Hugging Face's logo

Datasets:
nvidia
/
PhysicalAI-Robotics-Manipulation-Kitchen-Demos

Tasks:
Robotics
Tags:
robotics
License:
Dataset card Files
xet
 Community
1
Abhim03 commited on
Commit
54d019e
·
verified ·
1 Parent(s): 8d34bb1

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. pretrain/atomic/CloseOven/20250820/lerobot/extras/dataset_meta.json +392 -0
  2. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000018/ep_meta.json +744 -0
  3. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000024/ep_meta.json +527 -0
  4. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000025/ep_meta.json +515 -0
  5. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000033/ep_meta.json +568 -0
  6. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000037/ep_meta.json +596 -0
  7. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000049/ep_meta.json +409 -0
  8. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000053/ep_meta.json +543 -0
  9. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000056/ep_meta.json +487 -0
  10. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000064/ep_meta.json +597 -0
  11. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000075/ep_meta.json +516 -0
  12. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000076/ep_meta.json +457 -0
  13. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000078/ep_meta.json +677 -0
  14. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000079/ep_meta.json +583 -0
  15. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000084/ep_meta.json +632 -0
  16. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000087/ep_meta.json +677 -0
  17. pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000100/ep_meta.json +540 -0
  18. pretrain/atomic/CloseOven/20250820/lerobot/meta/info.json +179 -0
  19. pretrain/atomic/CloseOven/20250820/lerobot/meta/stats.json +378 -0
  20. pretrain/atomic/CloseOven/20250820/lerobot/meta/tasks.jsonl +2 -0
pretrain/atomic/CloseOven/20250820/lerobot/extras/dataset_meta.json ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "date": "8-20-2025",
3
+ "env": "CloseOven",
4
+ "env_args": {
5
+ "type": 1,
6
+ "env_name": "CloseOven",
7
+ "env_version": "0.5.1",
8
+ "robosuite_version": "1.5.2",
9
+ "mujoco_version": "3.3.1",
10
+ "env_kwargs": {
11
+ "env_name": "CloseOven",
12
+ "robots": "PandaOmron",
13
+ "layout_ids": -2,
14
+ "style_ids": -2,
15
+ "obj_instance_split": "pretrain",
16
+ "clutter_mode": 0,
17
+ "translucent_robot": false,
18
+ "layout_and_style_ids": null,
19
+ "controller_configs": {
20
+ "type": "HYBRID_MOBILE_BASE",
21
+ "composite_controller_specific_configs": {
22
+ "left_offset": [
23
+ 0.0,
24
+ 0.0,
25
+ 0.0
26
+ ],
27
+ "right_offset": [
28
+ -0.15,
29
+ 0.0,
30
+ 0.35
31
+ ],
32
+ "left2arm_transform": [
33
+ [
34
+ 1,
35
+ 0,
36
+ 0,
37
+ 0
38
+ ],
39
+ [
40
+ 0,
41
+ 1,
42
+ 0,
43
+ 0
44
+ ],
45
+ [
46
+ 0,
47
+ 0,
48
+ 1,
49
+ 0
50
+ ],
51
+ [
52
+ 0,
53
+ 0,
54
+ 0,
55
+ 1
56
+ ]
57
+ ],
58
+ "right2arm_transform": [
59
+ [
60
+ 0,
61
+ 0.7071068,
62
+ 0.7071068,
63
+ 0
64
+ ],
65
+ [
66
+ 1,
67
+ 0,
68
+ 0,
69
+ 0
70
+ ],
71
+ [
72
+ 0,
73
+ 0.7071068,
74
+ -0.7071068,
75
+ 0
76
+ ],
77
+ [
78
+ 0,
79
+ 0,
80
+ 0,
81
+ 1
82
+ ]
83
+ ],
84
+ "left2finger_transform": [
85
+ [
86
+ 1,
87
+ 0,
88
+ 0,
89
+ 0
90
+ ],
91
+ [
92
+ 0,
93
+ 1,
94
+ 0,
95
+ 0
96
+ ],
97
+ [
98
+ 0,
99
+ 0,
100
+ 1,
101
+ 0
102
+ ],
103
+ [
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 1
108
+ ]
109
+ ],
110
+ "right2finger_transform": [
111
+ [
112
+ 1,
113
+ 0,
114
+ 0,
115
+ 0
116
+ ],
117
+ [
118
+ 0,
119
+ 1,
120
+ 0,
121
+ 0
122
+ ],
123
+ [
124
+ 0,
125
+ 0,
126
+ 1,
127
+ 0
128
+ ],
129
+ [
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 1
134
+ ]
135
+ ],
136
+ "body_part_ordering": [
137
+ "right",
138
+ "right_gripper",
139
+ "base",
140
+ "torso"
141
+ ]
142
+ },
143
+ "body_parts": {
144
+ "right": {
145
+ "type": "OSC_POSE",
146
+ "input_max": 1,
147
+ "input_min": -1,
148
+ "output_max": [
149
+ 0.05,
150
+ 0.05,
151
+ 0.05,
152
+ 0.5,
153
+ 0.5,
154
+ 0.5
155
+ ],
156
+ "output_min": [
157
+ -0.05,
158
+ -0.05,
159
+ -0.05,
160
+ -0.5,
161
+ -0.5,
162
+ -0.5
163
+ ],
164
+ "kp": 150,
165
+ "damping_ratio": 1,
166
+ "impedance_mode": "fixed",
167
+ "kp_limits": [
168
+ 0,
169
+ 300
170
+ ],
171
+ "damping_ratio_limits": [
172
+ 0,
173
+ 10
174
+ ],
175
+ "position_limits": null,
176
+ "orientation_limits": null,
177
+ "uncouple_pos_ori": true,
178
+ "input_type": "delta",
179
+ "input_ref_frame": "base",
180
+ "interpolation": null,
181
+ "ramp_ratio": 0.2,
182
+ "gripper": {
183
+ "type": "GRIP"
184
+ }
185
+ },
186
+ "torso": {
187
+ "type": "JOINT_POSITION",
188
+ "interpolation": "null",
189
+ "kp": 2000
190
+ },
191
+ "base": {
192
+ "type": "JOINT_VELOCITY",
193
+ "interpolation": "null"
194
+ }
195
+ }
196
+ }
197
+ }
198
+ },
199
+ "env_info": {
200
+ "env_name": "CloseOven",
201
+ "robots": "PandaOmron",
202
+ "layout_ids": -2,
203
+ "style_ids": -2,
204
+ "obj_instance_split": "pretrain",
205
+ "clutter_mode": 0,
206
+ "translucent_robot": true,
207
+ "layout_and_style_ids": null,
208
+ "controller_configs": {
209
+ "type": "HYBRID_MOBILE_BASE",
210
+ "composite_controller_specific_configs": {
211
+ "left_offset": [
212
+ 0.0,
213
+ 0.0,
214
+ 0.0
215
+ ],
216
+ "right_offset": [
217
+ -0.15,
218
+ 0.0,
219
+ 0.35
220
+ ],
221
+ "left2arm_transform": [
222
+ [
223
+ 1,
224
+ 0,
225
+ 0,
226
+ 0
227
+ ],
228
+ [
229
+ 0,
230
+ 1,
231
+ 0,
232
+ 0
233
+ ],
234
+ [
235
+ 0,
236
+ 0,
237
+ 1,
238
+ 0
239
+ ],
240
+ [
241
+ 0,
242
+ 0,
243
+ 0,
244
+ 1
245
+ ]
246
+ ],
247
+ "right2arm_transform": [
248
+ [
249
+ 0,
250
+ 0.7071068,
251
+ 0.7071068,
252
+ 0
253
+ ],
254
+ [
255
+ 1,
256
+ 0,
257
+ 0,
258
+ 0
259
+ ],
260
+ [
261
+ 0,
262
+ 0.7071068,
263
+ -0.7071068,
264
+ 0
265
+ ],
266
+ [
267
+ 0,
268
+ 0,
269
+ 0,
270
+ 1
271
+ ]
272
+ ],
273
+ "left2finger_transform": [
274
+ [
275
+ 1,
276
+ 0,
277
+ 0,
278
+ 0
279
+ ],
280
+ [
281
+ 0,
282
+ 1,
283
+ 0,
284
+ 0
285
+ ],
286
+ [
287
+ 0,
288
+ 0,
289
+ 1,
290
+ 0
291
+ ],
292
+ [
293
+ 0,
294
+ 0,
295
+ 0,
296
+ 1
297
+ ]
298
+ ],
299
+ "right2finger_transform": [
300
+ [
301
+ 1,
302
+ 0,
303
+ 0,
304
+ 0
305
+ ],
306
+ [
307
+ 0,
308
+ 1,
309
+ 0,
310
+ 0
311
+ ],
312
+ [
313
+ 0,
314
+ 0,
315
+ 1,
316
+ 0
317
+ ],
318
+ [
319
+ 0,
320
+ 0,
321
+ 0,
322
+ 1
323
+ ]
324
+ ],
325
+ "body_part_ordering": [
326
+ "right",
327
+ "right_gripper",
328
+ "base",
329
+ "torso"
330
+ ]
331
+ },
332
+ "body_parts": {
333
+ "right": {
334
+ "type": "OSC_POSE",
335
+ "input_max": 1,
336
+ "input_min": -1,
337
+ "output_max": [
338
+ 0.05,
339
+ 0.05,
340
+ 0.05,
341
+ 0.5,
342
+ 0.5,
343
+ 0.5
344
+ ],
345
+ "output_min": [
346
+ -0.05,
347
+ -0.05,
348
+ -0.05,
349
+ -0.5,
350
+ -0.5,
351
+ -0.5
352
+ ],
353
+ "kp": 150,
354
+ "damping_ratio": 1,
355
+ "impedance_mode": "fixed",
356
+ "kp_limits": [
357
+ 0,
358
+ 300
359
+ ],
360
+ "damping_ratio_limits": [
361
+ 0,
362
+ 10
363
+ ],
364
+ "position_limits": null,
365
+ "orientation_limits": null,
366
+ "uncouple_pos_ori": true,
367
+ "input_type": "delta",
368
+ "input_ref_frame": "base",
369
+ "interpolation": null,
370
+ "ramp_ratio": 0.2,
371
+ "gripper": {
372
+ "type": "GRIP"
373
+ }
374
+ },
375
+ "torso": {
376
+ "type": "JOINT_POSITION",
377
+ "interpolation": "null",
378
+ "kp": 2000
379
+ },
380
+ "base": {
381
+ "type": "JOINT_VELOCITY",
382
+ "interpolation": "null"
383
+ }
384
+ }
385
+ }
386
+ },
387
+ "mujoco_version": "3.3.1",
388
+ "robocasa_version": "0.5.1",
389
+ "robosuite_version": "1.5.2",
390
+ "time": "6:54:24",
391
+ "total": 18230
392
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000018/ep_meta.json ADDED
@@ -0,0 +1,744 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 39,
3
+ "style_id": 60,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_front_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray007/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0014414786440455352,
37
+ 0.013877722213718621,
38
+ -0.13888790037735682
39
+ ],
40
+ "size": [
41
+ 0.5313637152962617,
42
+ 0.3602232335613603
43
+ ],
44
+ "height": 0.13790049117621658,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "hot_dog",
68
+ "cooked_food",
69
+ "food",
70
+ "in_container"
71
+ ],
72
+ "groups": [
73
+ "all"
74
+ ],
75
+ "cat": "hot_dog",
76
+ "split": "train",
77
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml"
78
+ }
79
+ },
80
+ {
81
+ "name": "distr_counter_1",
82
+ "obj_groups": "all",
83
+ "placement": {
84
+ "fixture": "counter_1_front_group_1",
85
+ "sample_region_kwargs": {
86
+ "ref": "oven_front_group_1",
87
+ "min_size": [
88
+ 0.07273767599999997,
89
+ 0.09999999999999996,
90
+ 0.07202737999999997
91
+ ]
92
+ },
93
+ "size": [
94
+ 1.0,
95
+ 0.5
96
+ ],
97
+ "pos": [
98
+ null,
99
+ -1.0
100
+ ],
101
+ "offset": [
102
+ 0.0,
103
+ 0.1
104
+ ]
105
+ },
106
+ "type": "object",
107
+ "info": {
108
+ "groups_containing_sampled_obj": [
109
+ "all",
110
+ "onion",
111
+ "vegetable",
112
+ "food",
113
+ "in_container"
114
+ ],
115
+ "groups": [
116
+ "all"
117
+ ],
118
+ "cat": "onion",
119
+ "split": "train",
120
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml"
121
+ },
122
+ "reset_region": {
123
+ "size": [
124
+ 3.25,
125
+ 0.65
126
+ ],
127
+ "offset": [
128
+ 0.0,
129
+ 0.0,
130
+ 0.46
131
+ ],
132
+ "name": "geom_0"
133
+ }
134
+ },
135
+ {
136
+ "name": "distr_counter_2",
137
+ "obj_groups": "all",
138
+ "placement": {
139
+ "fixture": "counter_1_front_group_1",
140
+ "sample_region_kwargs": {
141
+ "ref": "oven_front_group_1",
142
+ "min_size": [
143
+ 0.3202448,
144
+ 0.28636480000000003,
145
+ 0.15977804
146
+ ]
147
+ },
148
+ "size": [
149
+ 1.0,
150
+ 0.5
151
+ ],
152
+ "pos": [
153
+ null,
154
+ -1.0
155
+ ],
156
+ "offset": [
157
+ 0.0,
158
+ 0.1
159
+ ]
160
+ },
161
+ "type": "object",
162
+ "info": {
163
+ "groups_containing_sampled_obj": [
164
+ "all",
165
+ "pot",
166
+ "receptacle",
167
+ "cookware",
168
+ "pots_and_pans"
169
+ ],
170
+ "groups": [
171
+ "all"
172
+ ],
173
+ "cat": "pot",
174
+ "split": "train",
175
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
176
+ },
177
+ "reset_region": {
178
+ "size": [
179
+ 3.25,
180
+ 0.65
181
+ ],
182
+ "offset": [
183
+ 0.0,
184
+ 0.0,
185
+ 0.46
186
+ ],
187
+ "name": "geom_0"
188
+ }
189
+ },
190
+ {
191
+ "name": "distr_counter_3",
192
+ "obj_groups": "all",
193
+ "placement": {
194
+ "fixture": "counter_1_front_group_1",
195
+ "sample_region_kwargs": {
196
+ "ref": "oven_front_group_1",
197
+ "min_size": [
198
+ 0.046719810000000014,
199
+ 0.22428135000000005,
200
+ 0.033552333000000004
201
+ ]
202
+ },
203
+ "size": [
204
+ 1.0,
205
+ 0.5
206
+ ],
207
+ "pos": [
208
+ null,
209
+ -1.0
210
+ ],
211
+ "offset": [
212
+ 0.0,
213
+ 0.1
214
+ ]
215
+ },
216
+ "type": "object",
217
+ "info": {
218
+ "groups_containing_sampled_obj": [
219
+ "all",
220
+ "baguette",
221
+ "bread_food",
222
+ "food",
223
+ "in_container",
224
+ "food_set1"
225
+ ],
226
+ "groups": [
227
+ "all"
228
+ ],
229
+ "cat": "baguette",
230
+ "split": "train",
231
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml"
232
+ },
233
+ "reset_region": {
234
+ "size": [
235
+ 3.25,
236
+ 0.65
237
+ ],
238
+ "offset": [
239
+ 0.0,
240
+ 0.0,
241
+ 0.46
242
+ ],
243
+ "name": "geom_0"
244
+ }
245
+ }
246
+ ],
247
+ "fixtures": {
248
+ "wall_main_1_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_main_1_backing_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_1_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_right_1_backing_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_main_2_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_main_2_backing_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "wall_right_2_room": {
267
+ "cls": "Wall"
268
+ },
269
+ "wall_right_2_backing_room": {
270
+ "cls": "Wall"
271
+ },
272
+ "wall_front_1_room": {
273
+ "cls": "Wall"
274
+ },
275
+ "wall_front_1_backing_room": {
276
+ "cls": "Wall"
277
+ },
278
+ "wall_front_5_room": {
279
+ "cls": "Wall"
280
+ },
281
+ "wall_front_5_backing_room": {
282
+ "cls": "Wall"
283
+ },
284
+ "wall_right_5_room": {
285
+ "cls": "Wall"
286
+ },
287
+ "wall_right_5_backing_room": {
288
+ "cls": "Wall"
289
+ },
290
+ "wall_front_4_room": {
291
+ "cls": "Wall"
292
+ },
293
+ "wall_front_4_backing_room": {
294
+ "cls": "Wall"
295
+ },
296
+ "wall_right_4_room": {
297
+ "cls": "Wall"
298
+ },
299
+ "wall_right_4_backing_room": {
300
+ "cls": "Wall"
301
+ },
302
+ "wall_right_3_room": {
303
+ "cls": "Wall"
304
+ },
305
+ "wall_right_3_backing_room": {
306
+ "cls": "Wall"
307
+ },
308
+ "wall_front_3_room": {
309
+ "cls": "Wall"
310
+ },
311
+ "wall_front_3_backing_room": {
312
+ "cls": "Wall"
313
+ },
314
+ "wall_front_2_room": {
315
+ "cls": "Wall"
316
+ },
317
+ "wall_front_2_backing_room": {
318
+ "cls": "Wall"
319
+ },
320
+ "wall_front_6_room": {
321
+ "cls": "Wall"
322
+ },
323
+ "wall_front_6_backing_room": {
324
+ "cls": "Wall"
325
+ },
326
+ "wall_front_7_room": {
327
+ "cls": "Wall"
328
+ },
329
+ "wall_front_7_backing_room": {
330
+ "cls": "Wall"
331
+ },
332
+ "floor_1_room": {
333
+ "cls": "Floor"
334
+ },
335
+ "floor_1_backing_room": {
336
+ "cls": "Floor"
337
+ },
338
+ "floor_2_room": {
339
+ "cls": "Floor"
340
+ },
341
+ "floor_2_backing_room": {
342
+ "cls": "Floor"
343
+ },
344
+ "floor_3_room": {
345
+ "cls": "Floor"
346
+ },
347
+ "floor_3_backing_room": {
348
+ "cls": "Floor"
349
+ },
350
+ "wallaccessory_2_room": {
351
+ "cls": "WallAccessory"
352
+ },
353
+ "wallaccessory_1_room": {
354
+ "cls": "WallAccessory"
355
+ },
356
+ "wallaccessory_4_room": {
357
+ "cls": "WallAccessory"
358
+ },
359
+ "wallaccessory_3_room": {
360
+ "cls": "WallAccessory"
361
+ },
362
+ "lightswitch_room": {
363
+ "cls": "WallAccessory"
364
+ },
365
+ "wallaccessory_5_room": {
366
+ "cls": "WallAccessory"
367
+ },
368
+ "wallaccessory_6.001_room": {
369
+ "cls": "WallAccessory"
370
+ },
371
+ "window_group_room": {
372
+ "cls": "Window"
373
+ },
374
+ "sink_main_group_1": {
375
+ "cls": "Sink"
376
+ },
377
+ "counter_1_main_group_1": {
378
+ "cls": "Counter"
379
+ },
380
+ "fridgefrenchdoor_main_group_1": {
381
+ "cls": "FridgeFrenchDoor"
382
+ },
383
+ "fridgefrenchdoor_housing_main_group_1": {
384
+ "cls": "HousingCabinet"
385
+ },
386
+ "hingecabinet_1_main_group_1": {
387
+ "cls": "HingeCabinet"
388
+ },
389
+ "singlecabinet_5_main_group_1": {
390
+ "cls": "SingleCabinet"
391
+ },
392
+ "singlecabinet_4_main_group_1": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "singlecabinet_1_main_group_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "singlecabinet_2_main_group_1": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "singlecabinet_3_main_group_1": {
402
+ "cls": "SingleCabinet"
403
+ },
404
+ "stack_1_main_group_1_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_1_main_group_1_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_1_main_group_1_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_2_main_group_1_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_2_main_group_1_1": {
417
+ "cls": "SingleCabinet"
418
+ },
419
+ "stack_2_main_group_1_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_3_main_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_3_main_group_1_1": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_3_main_group_1_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_3_main_group_1_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_4_main_group_1_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_4_main_group_1_1": {
438
+ "cls": "SingleCabinet"
439
+ },
440
+ "stack_4_main_group_1_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "cube_1_main_group_1": {
444
+ "cls": "Box"
445
+ },
446
+ "stack_5_main_group_1_base": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_5_main_group_1_1": {
450
+ "cls": "SingleCabinet"
451
+ },
452
+ "stack_5_main_group_1_2": {
453
+ "cls": "Drawer"
454
+ },
455
+ "stack_6_main_group_1_base": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_6_main_group_1_1": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "stack_6_main_group_1_2": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_7_main_group_1_base": {
465
+ "cls": "Box"
466
+ },
467
+ "stack_7_main_group_1_1": {
468
+ "cls": "HingeCabinet"
469
+ },
470
+ "stack_7_main_group_1_2": {
471
+ "cls": "PanelCabinet"
472
+ },
473
+ "dishwasher_1_main_group_1": {
474
+ "cls": "Dishwasher"
475
+ },
476
+ "toaster_main_group_1": {
477
+ "cls": "Toaster"
478
+ },
479
+ "knifeblock_main_group_1": {
480
+ "cls": "Accessory"
481
+ },
482
+ "papertowel_main_group_1": {
483
+ "cls": "Accessory"
484
+ },
485
+ "stovetop_island_group_1": {
486
+ "cls": "Stovetop"
487
+ },
488
+ "island_island_group_1": {
489
+ "cls": "Counter"
490
+ },
491
+ "stack_1_island_group_1_base": {
492
+ "cls": "Box"
493
+ },
494
+ "stack_1_island_group_1_1": {
495
+ "cls": "SingleCabinet"
496
+ },
497
+ "stack_1_island_group_1_2": {
498
+ "cls": "Drawer"
499
+ },
500
+ "stack_2_island_group_1_base": {
501
+ "cls": "Box"
502
+ },
503
+ "stack_2_island_group_1_1": {
504
+ "cls": "SingleCabinet"
505
+ },
506
+ "stack_2_island_group_1_2": {
507
+ "cls": "Drawer"
508
+ },
509
+ "stack_3_island_group_1_base": {
510
+ "cls": "Box"
511
+ },
512
+ "stack_3_island_group_1_1": {
513
+ "cls": "SingleCabinet"
514
+ },
515
+ "stack_3_island_group_1_2": {
516
+ "cls": "Drawer"
517
+ },
518
+ "stack_4_island_group_1_base": {
519
+ "cls": "Box"
520
+ },
521
+ "stack_4_island_group_1_1": {
522
+ "cls": "SingleCabinet"
523
+ },
524
+ "stack_4_island_group_1_2": {
525
+ "cls": "Drawer"
526
+ },
527
+ "stack_5_island_group_2.001_base": {
528
+ "cls": "Box"
529
+ },
530
+ "stack_5_island_group_2.001_1": {
531
+ "cls": "SingleCabinet"
532
+ },
533
+ "stack_5_island_group_2.001_2": {
534
+ "cls": "Drawer"
535
+ },
536
+ "stack_6_island_group_2.001_base": {
537
+ "cls": "Box"
538
+ },
539
+ "stack_6_island_group_2.001_1": {
540
+ "cls": "SingleCabinet"
541
+ },
542
+ "stack_6_island_group_2.001_2": {
543
+ "cls": "Drawer"
544
+ },
545
+ "stack_7_island_group_2.001_base": {
546
+ "cls": "Box"
547
+ },
548
+ "stack_7_island_group_2.001_1": {
549
+ "cls": "SingleCabinet"
550
+ },
551
+ "stack_7_island_group_2.001_2": {
552
+ "cls": "Drawer"
553
+ },
554
+ "stack_8_island_group_2.001_base": {
555
+ "cls": "Box"
556
+ },
557
+ "stack_8_island_group_2.001_1": {
558
+ "cls": "SingleCabinet"
559
+ },
560
+ "stack_8_island_group_2.001_2": {
561
+ "cls": "Drawer"
562
+ },
563
+ "counter_1_front_group_1": {
564
+ "cls": "Counter"
565
+ },
566
+ "hingecabinet_2_front_group_1": {
567
+ "cls": "HingeCabinet"
568
+ },
569
+ "hingecabinet_1_front_group_1": {
570
+ "cls": "HingeCabinet"
571
+ },
572
+ "stack_1_front_group_1_base": {
573
+ "cls": "Box"
574
+ },
575
+ "stack_1_front_group_1_1": {
576
+ "cls": "SingleCabinet"
577
+ },
578
+ "stack_1_front_group_1_2": {
579
+ "cls": "Drawer"
580
+ },
581
+ "stack_2_front_group_1_base": {
582
+ "cls": "Box"
583
+ },
584
+ "stack_2_front_group_1_1": {
585
+ "cls": "SingleCabinet"
586
+ },
587
+ "stack_2_front_group_1_2": {
588
+ "cls": "Drawer"
589
+ },
590
+ "stack_3_front_group_1_base": {
591
+ "cls": "Box"
592
+ },
593
+ "stack_3_front_group_1_1": {
594
+ "cls": "SingleCabinet"
595
+ },
596
+ "stack_3_front_group_1_2": {
597
+ "cls": "Drawer"
598
+ },
599
+ "stack_4_front_group_1_base": {
600
+ "cls": "Box"
601
+ },
602
+ "stack_4_front_group_1_1": {
603
+ "cls": "SingleCabinet"
604
+ },
605
+ "stack_4_front_group_1_2": {
606
+ "cls": "Drawer"
607
+ },
608
+ "stack_5_front_group_1_base": {
609
+ "cls": "Box"
610
+ },
611
+ "stack_5_front_group_1_1": {
612
+ "cls": "Drawer"
613
+ },
614
+ "stack_5_front_group_1_2": {
615
+ "cls": "Drawer"
616
+ },
617
+ "stack_5_front_group_1_3": {
618
+ "cls": "Drawer"
619
+ },
620
+ "bottom_front_group_1_base": {
621
+ "cls": "Box"
622
+ },
623
+ "bottom_front_group_1_1": {
624
+ "cls": "Drawer"
625
+ },
626
+ "oven_front_group_1": {
627
+ "cls": "Oven"
628
+ },
629
+ "oven_housing_front_group_1": {
630
+ "cls": "HousingCabinet"
631
+ },
632
+ "microwave_front_group_1": {
633
+ "cls": "Microwave"
634
+ },
635
+ "microwave_housing_front_group_1": {
636
+ "cls": "HousingCabinet"
637
+ },
638
+ "top_front_group_1": {
639
+ "cls": "HingeCabinet"
640
+ },
641
+ "coffeemachine_front_group_1": {
642
+ "cls": "CoffeeMachine"
643
+ },
644
+ "toaster_oven_front_group_1": {
645
+ "cls": "ToasterOven"
646
+ }
647
+ },
648
+ "gen_textures": {},
649
+ "lang": "Close the oven door.",
650
+ "fixture_refs": {
651
+ "fxtr": "oven_front_group_1"
652
+ },
653
+ "cam_configs": {
654
+ "robot0_agentview_center": {
655
+ "pos": [
656
+ -0.6,
657
+ 0.0,
658
+ 1.15
659
+ ],
660
+ "quat": [
661
+ 0.636945903301239,
662
+ 0.3325185477733612,
663
+ -0.3199238181114197,
664
+ -0.6175596117973328
665
+ ],
666
+ "parent_body": "mobilebase0_support"
667
+ },
668
+ "robot0_agentview_left": {
669
+ "pos": [
670
+ -0.5,
671
+ 0.35,
672
+ 1.05
673
+ ],
674
+ "quat": [
675
+ 0.55623853,
676
+ 0.29935253,
677
+ -0.37678665,
678
+ -0.6775092
679
+ ],
680
+ "camera_attribs": {
681
+ "fovy": "60"
682
+ },
683
+ "parent_body": "mobilebase0_support"
684
+ },
685
+ "robot0_agentview_right": {
686
+ "pos": [
687
+ -0.5,
688
+ -0.35,
689
+ 1.05
690
+ ],
691
+ "quat": [
692
+ 0.6775091886520386,
693
+ 0.3767866790294647,
694
+ -0.2993525564670563,
695
+ -0.55623859167099
696
+ ],
697
+ "camera_attribs": {
698
+ "fovy": "60"
699
+ },
700
+ "parent_body": "mobilebase0_support"
701
+ },
702
+ "robot0_frontview": {
703
+ "pos": [
704
+ -0.5,
705
+ 0,
706
+ 0.95
707
+ ],
708
+ "quat": [
709
+ 0.6088936924934387,
710
+ 0.3814677894115448,
711
+ -0.3673907518386841,
712
+ -0.5905545353889465
713
+ ],
714
+ "camera_attribs": {
715
+ "fovy": "60"
716
+ },
717
+ "parent_body": "mobilebase0_support"
718
+ },
719
+ "robot0_eye_in_hand": {
720
+ "pos": [
721
+ 0.05,
722
+ 0,
723
+ 0
724
+ ],
725
+ "quat": [
726
+ 0,
727
+ 0.707107,
728
+ 0.707107,
729
+ 0
730
+ ],
731
+ "parent_body": "robot0_right_hand"
732
+ }
733
+ },
734
+ "init_robot_base_pos": [
735
+ 3.1377849929086015,
736
+ -5.1119035792639815,
737
+ 0.0
738
+ ],
739
+ "init_robot_base_ori": [
740
+ 0.0,
741
+ 0.0,
742
+ -1.57079623937212
743
+ ]
744
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000024/ep_meta.json ADDED
@@ -0,0 +1,527 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 27,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_left_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.001484587893097078,
37
+ 0.007471145706877291,
38
+ -0.12796236999809324
39
+ ],
40
+ "size": [
41
+ 0.5280805688426562,
42
+ 0.4704484027308083
43
+ ],
44
+ "height": 0.11289428349840974,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "cheese",
68
+ "dairy",
69
+ "food",
70
+ "in_container",
71
+ "food_set1"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "cheese",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_left_group_1",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_left_group_1",
88
+ "min_size": [
89
+ 0.07203545828726018,
90
+ 0.10467156681815841,
91
+ 0.2304665653250654
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "spray",
112
+ "cleaner"
113
+ ],
114
+ "groups": [
115
+ "all"
116
+ ],
117
+ "cat": "spray",
118
+ "split": "train",
119
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml"
120
+ },
121
+ "reset_region": {
122
+ "size": [
123
+ 1.039087837300038,
124
+ 0.65
125
+ ],
126
+ "offset": [
127
+ -0.8604560813499809,
128
+ -3.469446951953614e-17,
129
+ 0.46
130
+ ],
131
+ "name": "geom_0"
132
+ }
133
+ }
134
+ ],
135
+ "fixtures": {
136
+ "wall_left_1_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_left_1_backing_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_right_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_right_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_main_2_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_main_2_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_right_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_right_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_main_3_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_main_3_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "floor_1_room": {
173
+ "cls": "Floor"
174
+ },
175
+ "floor_1_backing_room": {
176
+ "cls": "Floor"
177
+ },
178
+ "wallaccessory_room": {
179
+ "cls": "WallAccessory"
180
+ },
181
+ "wallaccessory.002_room": {
182
+ "cls": "WallAccessory"
183
+ },
184
+ "wallaccessory.003_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "stool_3_room": {
188
+ "cls": "Stool"
189
+ },
190
+ "stool_2_room": {
191
+ "cls": "Stool"
192
+ },
193
+ "stool_1_room": {
194
+ "cls": "Stool"
195
+ },
196
+ "counter_1_main_group_1": {
197
+ "cls": "Counter"
198
+ },
199
+ "counter_corner_1_main_group_1": {
200
+ "cls": "Counter"
201
+ },
202
+ "hingecabinet_1_main_group_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "box_1_main_group_1": {
206
+ "cls": "Box"
207
+ },
208
+ "hingecabinet_2_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "stack_1_main_group_1_base": {
212
+ "cls": "Box"
213
+ },
214
+ "stack_1_main_group_1_1": {
215
+ "cls": "Drawer"
216
+ },
217
+ "stack_1_main_group_1_2": {
218
+ "cls": "Drawer"
219
+ },
220
+ "stack_1_main_group_1_3": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_2_main_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_2_main_group_1_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "fridgefrenchdoor_main_group_1": {
230
+ "cls": "FridgeFrenchDoor"
231
+ },
232
+ "fridgefrenchdoor_housing_main_group_1": {
233
+ "cls": "HousingCabinet"
234
+ },
235
+ "knifeblock_main_group_1": {
236
+ "cls": "Accessory"
237
+ },
238
+ "paper_towel_main_group_1": {
239
+ "cls": "Accessory"
240
+ },
241
+ "toaster_main_group_1": {
242
+ "cls": "Toaster"
243
+ },
244
+ "sink_right_group_1": {
245
+ "cls": "Sink"
246
+ },
247
+ "counter_1_right_group_1": {
248
+ "cls": "Counter"
249
+ },
250
+ "counter_2_right_group_1": {
251
+ "cls": "Counter"
252
+ },
253
+ "singlecabinet_1_right_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "cube_2_right_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_3_right_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_3_right_group_1_1": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_3_right_group_1_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_3_right_group_1_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_1_right_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_1_right_group_1_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "cube_1_right_group_1": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_2_right_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_2_right_group_1_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "stack_2_right_group_1_2": {
287
+ "cls": "PanelCabinet"
288
+ },
289
+ "dishwasher_1_right_group_1": {
290
+ "cls": "Dishwasher"
291
+ },
292
+ "cube_3_right_group_1": {
293
+ "cls": "Box"
294
+ },
295
+ "stovetop_left_group_1": {
296
+ "cls": "Stovetop"
297
+ },
298
+ "counter_1_left_group_1": {
299
+ "cls": "Counter"
300
+ },
301
+ "hingecabinet_3_left_group_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "hingecabinet_2_left_group_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "hingecabinet_1_left_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "bottom_left_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "bottom_left_group_1_1": {
314
+ "cls": "Drawer"
315
+ },
316
+ "oven_left_group_1": {
317
+ "cls": "Oven"
318
+ },
319
+ "oven_housing_left_group_1": {
320
+ "cls": "HousingCabinet"
321
+ },
322
+ "microwave_left_group_1": {
323
+ "cls": "Microwave"
324
+ },
325
+ "microwave_housing_left_group_1": {
326
+ "cls": "HousingCabinet"
327
+ },
328
+ "top_left_group_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_1_left_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_left_group_1_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "stack_1_left_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_2_left_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_2_left_group_1_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "stack_2_left_group_1_2": {
347
+ "cls": "PanelCabinet"
348
+ },
349
+ "stack_3_left_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_3_left_group_1_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "stack_3_left_group_1_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "coffeemachine_left_group_1": {
359
+ "cls": "CoffeeMachine"
360
+ },
361
+ "toaster_oven_left_group_1": {
362
+ "cls": "ToasterOven"
363
+ },
364
+ "counter_1_island_group": {
365
+ "cls": "Counter"
366
+ },
367
+ "stack_2_island_group_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_2_island_group_1": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_2_island_group_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_1_island_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_1_island_group_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "stack_3_island_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_3_island_group_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "plant_island_group": {
389
+ "cls": "Accessory"
390
+ },
391
+ "stack_2_dining_area_group_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_2_dining_area_group_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "stack_2_dining_area_group_2": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_4_dining_area_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_4_dining_area_group_1": {
404
+ "cls": "SingleCabinet"
405
+ },
406
+ "stack_1_dining_area_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_1_dining_area_group_1": {
410
+ "cls": "SingleCabinet"
411
+ },
412
+ "stack_3_dining_area_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_3_dining_area_group_1": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "stack_3_dining_area_group_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stool_3_stool_group_1": {
422
+ "cls": "Stool"
423
+ },
424
+ "stool_2_stool_group_1": {
425
+ "cls": "Stool"
426
+ },
427
+ "stool_1_stool_group_1": {
428
+ "cls": "Stool"
429
+ }
430
+ },
431
+ "gen_textures": {},
432
+ "lang": "Close the oven door.",
433
+ "fixture_refs": {
434
+ "fxtr": "oven_left_group_1"
435
+ },
436
+ "cam_configs": {
437
+ "robot0_agentview_center": {
438
+ "pos": [
439
+ -0.6,
440
+ 0.0,
441
+ 1.15
442
+ ],
443
+ "quat": [
444
+ 0.636945903301239,
445
+ 0.3325185477733612,
446
+ -0.3199238181114197,
447
+ -0.6175596117973328
448
+ ],
449
+ "parent_body": "mobilebase0_support"
450
+ },
451
+ "robot0_agentview_left": {
452
+ "pos": [
453
+ -0.5,
454
+ 0.35,
455
+ 1.05
456
+ ],
457
+ "quat": [
458
+ 0.55623853,
459
+ 0.29935253,
460
+ -0.37678665,
461
+ -0.6775092
462
+ ],
463
+ "camera_attribs": {
464
+ "fovy": "60"
465
+ },
466
+ "parent_body": "mobilebase0_support"
467
+ },
468
+ "robot0_agentview_right": {
469
+ "pos": [
470
+ -0.5,
471
+ -0.35,
472
+ 1.05
473
+ ],
474
+ "quat": [
475
+ 0.6775091886520386,
476
+ 0.3767866790294647,
477
+ -0.2993525564670563,
478
+ -0.55623859167099
479
+ ],
480
+ "camera_attribs": {
481
+ "fovy": "60"
482
+ },
483
+ "parent_body": "mobilebase0_support"
484
+ },
485
+ "robot0_frontview": {
486
+ "pos": [
487
+ -0.5,
488
+ 0,
489
+ 0.95
490
+ ],
491
+ "quat": [
492
+ 0.6088936924934387,
493
+ 0.3814677894115448,
494
+ -0.3673907518386841,
495
+ -0.5905545353889465
496
+ ],
497
+ "camera_attribs": {
498
+ "fovy": "60"
499
+ },
500
+ "parent_body": "mobilebase0_support"
501
+ },
502
+ "robot0_eye_in_hand": {
503
+ "pos": [
504
+ 0.05,
505
+ 0,
506
+ 0
507
+ ],
508
+ "quat": [
509
+ 0,
510
+ 0.707107,
511
+ 0.707107,
512
+ 0
513
+ ],
514
+ "parent_body": "robot0_right_hand"
515
+ }
516
+ },
517
+ "init_robot_base_pos": [
518
+ 1.224064790065974,
519
+ -3.7301397114860113,
520
+ 0.0
521
+ ],
522
+ "init_robot_base_ori": [
523
+ 0.0,
524
+ 0.0,
525
+ 3.1415924507432367
526
+ ]
527
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000025/ep_meta.json ADDED
@@ -0,0 +1,515 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 34,
3
+ "style_id": 42,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_left_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray005/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ -0.00014228432647185596,
37
+ -0.009133747980802506,
38
+ -0.12953017493898192
39
+ ],
40
+ "size": [
41
+ 0.46209971028309305,
42
+ 0.39726728769313757
43
+ ],
44
+ "height": 0.13071999431359174,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "marshmallow",
68
+ "sweets",
69
+ "food",
70
+ "in_container"
71
+ ],
72
+ "groups": [
73
+ "all"
74
+ ],
75
+ "cat": "marshmallow",
76
+ "split": "train",
77
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
78
+ }
79
+ },
80
+ {
81
+ "name": "distr_counter_1",
82
+ "obj_groups": "all",
83
+ "placement": {
84
+ "fixture": "counter_1_left_group_1",
85
+ "sample_region_kwargs": {
86
+ "ref": "oven_left_group_1",
87
+ "min_size": [
88
+ 0.05321475,
89
+ 0.053213525,
90
+ 0.18842733750000001
91
+ ]
92
+ },
93
+ "size": [
94
+ 1.0,
95
+ 0.5
96
+ ],
97
+ "pos": [
98
+ null,
99
+ -1.0
100
+ ],
101
+ "offset": [
102
+ 0.0,
103
+ 0.1
104
+ ]
105
+ },
106
+ "type": "object",
107
+ "info": {
108
+ "groups_containing_sampled_obj": [
109
+ "all",
110
+ "mustard",
111
+ "condiment"
112
+ ],
113
+ "groups": [
114
+ "all"
115
+ ],
116
+ "cat": "mustard",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard003/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "size": [
122
+ 1.006516885844102,
123
+ 0.65
124
+ ],
125
+ "offset": [
126
+ 1.2187915570779488,
127
+ -3.469446951953614e-17,
128
+ 0.46
129
+ ],
130
+ "name": "geom_0"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter_2",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_1_left_group_1",
138
+ "sample_region_kwargs": {
139
+ "ref": "oven_left_group_1",
140
+ "min_size": [
141
+ 0.03141563486424081,
142
+ 0.1859341517322251,
143
+ 0.0318393911128487
144
+ ]
145
+ },
146
+ "size": [
147
+ 1.0,
148
+ 0.5
149
+ ],
150
+ "pos": [
151
+ null,
152
+ -1.0
153
+ ],
154
+ "offset": [
155
+ 0.0,
156
+ 0.1
157
+ ]
158
+ },
159
+ "type": "object",
160
+ "info": {
161
+ "groups_containing_sampled_obj": [
162
+ "all",
163
+ "carrot",
164
+ "vegetable",
165
+ "food",
166
+ "in_container",
167
+ "food_set1",
168
+ "group1"
169
+ ],
170
+ "groups": [
171
+ "all"
172
+ ],
173
+ "cat": "carrot",
174
+ "split": "train",
175
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml"
176
+ },
177
+ "reset_region": {
178
+ "size": [
179
+ 1.006516885844102,
180
+ 0.65
181
+ ],
182
+ "offset": [
183
+ 1.2187915570779488,
184
+ -3.469446951953614e-17,
185
+ 0.46
186
+ ],
187
+ "name": "geom_0"
188
+ }
189
+ },
190
+ {
191
+ "name": "distr_counter_3",
192
+ "obj_groups": "all",
193
+ "placement": {
194
+ "fixture": "counter_1_left_group_1",
195
+ "sample_region_kwargs": {
196
+ "ref": "oven_left_group_1",
197
+ "min_size": [
198
+ 0.10581994080000001,
199
+ 0.12127231920000002,
200
+ 0.037854385200000014
201
+ ]
202
+ },
203
+ "size": [
204
+ 1.0,
205
+ 0.5
206
+ ],
207
+ "pos": [
208
+ null,
209
+ -1.0
210
+ ],
211
+ "offset": [
212
+ 0.0,
213
+ 0.1
214
+ ]
215
+ },
216
+ "type": "object",
217
+ "info": {
218
+ "groups_containing_sampled_obj": [
219
+ "all",
220
+ "bagel",
221
+ "bread_food",
222
+ "food",
223
+ "in_container"
224
+ ],
225
+ "groups": [
226
+ "all"
227
+ ],
228
+ "cat": "bagel",
229
+ "split": "train",
230
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_3/model.xml"
231
+ },
232
+ "reset_region": {
233
+ "size": [
234
+ 1.006516885844102,
235
+ 0.65
236
+ ],
237
+ "offset": [
238
+ 1.2187915570779488,
239
+ -3.469446951953614e-17,
240
+ 0.46
241
+ ],
242
+ "name": "geom_0"
243
+ }
244
+ }
245
+ ],
246
+ "fixtures": {
247
+ "wall_main_1_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_main_1_backing_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_left_1_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_left_1_backing_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "floor_1_room": {
260
+ "cls": "Floor"
261
+ },
262
+ "floor_1_backing_room": {
263
+ "cls": "Floor"
264
+ },
265
+ "stool_2_room": {
266
+ "cls": "Stool"
267
+ },
268
+ "stool_3_room": {
269
+ "cls": "Stool"
270
+ },
271
+ "stool_4_room": {
272
+ "cls": "Stool"
273
+ },
274
+ "stool_1_room": {
275
+ "cls": "Stool"
276
+ },
277
+ "stovetop_left_group_1": {
278
+ "cls": "Stovetop"
279
+ },
280
+ "counter_1_left_group_1": {
281
+ "cls": "Counter"
282
+ },
283
+ "hingecabinet_4_left_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "hingecabinet_3_left_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "hingecabinet_2_left_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "singlecabinet_1_left_group_1": {
293
+ "cls": "SingleCabinet"
294
+ },
295
+ "bottom_left_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "bottom_left_group_1_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "oven_left_group_1": {
302
+ "cls": "Oven"
303
+ },
304
+ "microwave_left_group_1": {
305
+ "cls": "Microwave"
306
+ },
307
+ "fridgefrenchdoor_left_group_1": {
308
+ "cls": "FridgeFrenchDoor"
309
+ },
310
+ "fridgefrenchdoor_housing_left_group_1": {
311
+ "cls": "HousingCabinet"
312
+ },
313
+ "oven_housing_left_group_1": {
314
+ "cls": "HousingCabinet"
315
+ },
316
+ "hingecabinet_1_left_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "microwave_housing_left_group_1": {
320
+ "cls": "HousingCabinet"
321
+ },
322
+ "top_left_group_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "stack_3_left_group_1_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_3_left_group_1_1": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_3_left_group_1_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_3_left_group_1_3": {
335
+ "cls": "PanelCabinet"
336
+ },
337
+ "stack_2_left_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_2_left_group_1_1": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_2_left_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_left_group_1_3": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_4_left_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_4_left_group_1_1": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_4_left_group_1_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_4_left_group_1_3": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_1_left_group_1_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_left_group_1_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "coffee_machine_left_group_1": {
368
+ "cls": "CoffeeMachine"
369
+ },
370
+ "toaster_left_group_1": {
371
+ "cls": "Toaster"
372
+ },
373
+ "toaster_oven_left_group_1": {
374
+ "cls": "ToasterOven"
375
+ },
376
+ "sink_island_group_1": {
377
+ "cls": "Sink"
378
+ },
379
+ "island_island_group_1": {
380
+ "cls": "Counter"
381
+ },
382
+ "cube_1_island_group_1": {
383
+ "cls": "Box"
384
+ },
385
+ "cube_2_island_group_1": {
386
+ "cls": "Box"
387
+ },
388
+ "cube_3_island_group_1": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_2_island_group_1_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_2_island_group_1_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "stack_3_island_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_3_island_group_1_1": {
401
+ "cls": "SingleCabinet"
402
+ },
403
+ "stack_1_island_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_1_island_group_1_1": {
407
+ "cls": "SingleCabinet"
408
+ },
409
+ "cube_4_island_group_1": {
410
+ "cls": "Box"
411
+ },
412
+ "dishwasher_1_island_group_1": {
413
+ "cls": "Dishwasher"
414
+ },
415
+ "paper_towel_island_group_1": {
416
+ "cls": "Accessory"
417
+ }
418
+ },
419
+ "gen_textures": {},
420
+ "lang": "Close the oven door.",
421
+ "fixture_refs": {
422
+ "fxtr": "oven_left_group_1"
423
+ },
424
+ "cam_configs": {
425
+ "robot0_agentview_center": {
426
+ "pos": [
427
+ -0.6,
428
+ 0.0,
429
+ 1.15
430
+ ],
431
+ "quat": [
432
+ 0.636945903301239,
433
+ 0.3325185477733612,
434
+ -0.3199238181114197,
435
+ -0.6175596117973328
436
+ ],
437
+ "parent_body": "mobilebase0_support"
438
+ },
439
+ "robot0_agentview_left": {
440
+ "pos": [
441
+ -0.5,
442
+ 0.35,
443
+ 1.05
444
+ ],
445
+ "quat": [
446
+ 0.55623853,
447
+ 0.29935253,
448
+ -0.37678665,
449
+ -0.6775092
450
+ ],
451
+ "camera_attribs": {
452
+ "fovy": "60"
453
+ },
454
+ "parent_body": "mobilebase0_support"
455
+ },
456
+ "robot0_agentview_right": {
457
+ "pos": [
458
+ -0.5,
459
+ -0.35,
460
+ 1.05
461
+ ],
462
+ "quat": [
463
+ 0.6775091886520386,
464
+ 0.3767866790294647,
465
+ -0.2993525564670563,
466
+ -0.55623859167099
467
+ ],
468
+ "camera_attribs": {
469
+ "fovy": "60"
470
+ },
471
+ "parent_body": "mobilebase0_support"
472
+ },
473
+ "robot0_frontview": {
474
+ "pos": [
475
+ -0.5,
476
+ 0,
477
+ 0.95
478
+ ],
479
+ "quat": [
480
+ 0.6088936924934387,
481
+ 0.3814677894115448,
482
+ -0.3673907518386841,
483
+ -0.5905545353889465
484
+ ],
485
+ "camera_attribs": {
486
+ "fovy": "60"
487
+ },
488
+ "parent_body": "mobilebase0_support"
489
+ },
490
+ "robot0_eye_in_hand": {
491
+ "pos": [
492
+ 0.05,
493
+ 0,
494
+ 0
495
+ ],
496
+ "quat": [
497
+ 0,
498
+ 0.707107,
499
+ 0.707107,
500
+ 0
501
+ ],
502
+ "parent_body": "robot0_right_hand"
503
+ }
504
+ },
505
+ "init_robot_base_pos": [
506
+ 1.2314658456271683,
507
+ -0.9554714377685168,
508
+ 0.0
509
+ ],
510
+ "init_robot_base_ori": [
511
+ 0.0,
512
+ 0.0,
513
+ 3.1412906566438026
514
+ ]
515
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000033/ep_meta.json ADDED
@@ -0,0 +1,568 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_main_group",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0014691511122125883,
37
+ -0.05081778141778559,
38
+ -0.04127909470065158
39
+ ],
40
+ "size": [
41
+ 0.47210640443202934,
42
+ 0.38620190826223266
43
+ ],
44
+ "height": 0.15978551137025446,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "aluminum_foil",
68
+ "tool",
69
+ "in_container"
70
+ ],
71
+ "groups": [
72
+ "all"
73
+ ],
74
+ "cat": "aluminum_foil",
75
+ "split": "train",
76
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil003/model.xml"
77
+ }
78
+ },
79
+ {
80
+ "name": "distr_counter_1",
81
+ "obj_groups": "all",
82
+ "placement": {
83
+ "fixture": "counter_1_main_group",
84
+ "sample_region_kwargs": {
85
+ "ref": "oven_main_group",
86
+ "min_size": [
87
+ 0.103642974,
88
+ 0.181364571,
89
+ 0.027995562
90
+ ]
91
+ },
92
+ "size": [
93
+ 1.0,
94
+ 0.5
95
+ ],
96
+ "pos": [
97
+ null,
98
+ -1.0
99
+ ],
100
+ "offset": [
101
+ 0.0,
102
+ 0.1
103
+ ]
104
+ },
105
+ "type": "object",
106
+ "info": {
107
+ "groups_containing_sampled_obj": [
108
+ "all",
109
+ "peeler",
110
+ "tool",
111
+ "in_container"
112
+ ],
113
+ "groups": [
114
+ "all"
115
+ ],
116
+ "cat": "peeler",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler003/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "size": [
122
+ 2.8,
123
+ 0.65
124
+ ],
125
+ "offset": [
126
+ 0.0,
127
+ 0.0,
128
+ 0.46
129
+ ],
130
+ "name": "geom_0"
131
+ }
132
+ }
133
+ ],
134
+ "fixtures": {
135
+ "wall_main_1_room": {
136
+ "cls": "Wall"
137
+ },
138
+ "wall_main_1_backing_room": {
139
+ "cls": "Wall"
140
+ },
141
+ "wall_left_4_room": {
142
+ "cls": "Wall"
143
+ },
144
+ "wall_left_4_backing_room": {
145
+ "cls": "Wall"
146
+ },
147
+ "wall_right_1_room": {
148
+ "cls": "Wall"
149
+ },
150
+ "wall_right_1_backing_room": {
151
+ "cls": "Wall"
152
+ },
153
+ "wall_left_1_room": {
154
+ "cls": "Wall"
155
+ },
156
+ "wall_left_1_backing_room": {
157
+ "cls": "Wall"
158
+ },
159
+ "wall_left_3_room": {
160
+ "cls": "Wall"
161
+ },
162
+ "wall_left_3_backing_room": {
163
+ "cls": "Wall"
164
+ },
165
+ "wall_left_2_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_left_2_backing_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_main_2_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_main_2_backing_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_front_1_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_front_1_backing_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "floor_1_room": {
184
+ "cls": "Floor"
185
+ },
186
+ "floor_1_backing_room": {
187
+ "cls": "Floor"
188
+ },
189
+ "floor_2_room": {
190
+ "cls": "Floor"
191
+ },
192
+ "floor_2_backing_room": {
193
+ "cls": "Floor"
194
+ },
195
+ "light_switch_1_room": {
196
+ "cls": "WallAccessory"
197
+ },
198
+ "wall_accessory_1_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "light_switch_2_room": {
202
+ "cls": "WallAccessory"
203
+ },
204
+ "wall_accessory_2_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "stool_1_room": {
208
+ "cls": "Stool"
209
+ },
210
+ "stool_2_room": {
211
+ "cls": "Stool"
212
+ },
213
+ "stool_3_room": {
214
+ "cls": "Stool"
215
+ },
216
+ "stool_4_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "bottom_main_group_base": {
220
+ "cls": "Box"
221
+ },
222
+ "bottom_main_group_1": {
223
+ "cls": "Drawer"
224
+ },
225
+ "oven_main_group": {
226
+ "cls": "Oven"
227
+ },
228
+ "oven_housing_main_group": {
229
+ "cls": "HousingCabinet"
230
+ },
231
+ "microwave_main_group": {
232
+ "cls": "Microwave"
233
+ },
234
+ "microwave_housing_main_group": {
235
+ "cls": "HousingCabinet"
236
+ },
237
+ "middle_main_group": {
238
+ "cls": "HingeCabinet"
239
+ },
240
+ "top_main_group": {
241
+ "cls": "HingeCabinet"
242
+ },
243
+ "fridge_main_group": {
244
+ "cls": "FridgeSideBySide"
245
+ },
246
+ "fridge_housing_main_group": {
247
+ "cls": "HousingCabinet"
248
+ },
249
+ "counter_1_main_group": {
250
+ "cls": "Counter"
251
+ },
252
+ "stack_1_main_group_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_1_main_group_1": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_1_main_group_2": {
259
+ "cls": "Drawer"
260
+ },
261
+ "stack_1_main_group_3": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_2_main_group_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_2_main_group_1": {
268
+ "cls": "Drawer"
269
+ },
270
+ "stack_2_main_group_2": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_2_main_group_3": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_3_main_group_base": {
277
+ "cls": "Box"
278
+ },
279
+ "stack_3_main_group_1": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_3_main_group_2": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_3_main_group_3": {
286
+ "cls": "Drawer"
287
+ },
288
+ "dishwasher_main_group": {
289
+ "cls": "Dishwasher"
290
+ },
291
+ "panel_stack_main_group_base": {
292
+ "cls": "Box"
293
+ },
294
+ "panel_stack_main_group_1": {
295
+ "cls": "PanelCabinet"
296
+ },
297
+ "cab_1_main_group": {
298
+ "cls": "HingeCabinet"
299
+ },
300
+ "cab_2_main_group": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "cab_3_main_group": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "cab_4_main_group": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "cab_5_main_group": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "cab_6_main_group": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "toaster_oven_main_group": {
316
+ "cls": "ToasterOven"
317
+ },
318
+ "paper_towel_main_group": {
319
+ "cls": "Accessory"
320
+ },
321
+ "stovetop_left_group": {
322
+ "cls": "Stovetop"
323
+ },
324
+ "counter_1_left_group": {
325
+ "cls": "Counter"
326
+ },
327
+ "stack_1_left_group_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_1_left_group_1": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_1_left_group_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_1_left_group_3": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_2_left_group_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_2_left_group_1": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_2_left_group_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_2_left_group_3": {
349
+ "cls": "Drawer"
350
+ },
351
+ "stack_3_left_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_3_left_group_1": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_3_left_group_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_3_left_group_3": {
361
+ "cls": "PanelCabinet"
362
+ },
363
+ "stack_4_left_group_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_4_left_group_1": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_4_left_group_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_4_left_group_3": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_5_left_group_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_5_left_group_1": {
379
+ "cls": "Drawer"
380
+ },
381
+ "stack_5_left_group_2": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_5_left_group_3": {
385
+ "cls": "Drawer"
386
+ },
387
+ "hood_left_group": {
388
+ "cls": "Hood"
389
+ },
390
+ "cab_1_left_group": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "cab_2_left_group": {
394
+ "cls": "HingeCabinet"
395
+ },
396
+ "cab_3_left_group": {
397
+ "cls": "HingeCabinet"
398
+ },
399
+ "cab_4_left_group": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "coffee_machine_left_group": {
403
+ "cls": "CoffeeMachine"
404
+ },
405
+ "toaster_left_group": {
406
+ "cls": "Toaster"
407
+ },
408
+ "sink_island_group": {
409
+ "cls": "Sink"
410
+ },
411
+ "island_island_group": {
412
+ "cls": "Counter"
413
+ },
414
+ "panel_box_1_island_group_base": {
415
+ "cls": "Box"
416
+ },
417
+ "panel_box_1_island_group_1": {
418
+ "cls": "PanelCabinet"
419
+ },
420
+ "stack_1_island_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_1_island_group_1": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_1_island_group_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_1_island_group_3": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_2_island_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_2_island_group_1": {
436
+ "cls": "SingleCabinet"
437
+ },
438
+ "stack_3_island_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_3_island_group_1": {
442
+ "cls": "HingeCabinet"
443
+ },
444
+ "stack_4_island_group_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_4_island_group_1": {
448
+ "cls": "SingleCabinet"
449
+ },
450
+ "stack_5_island_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_5_island_group_1": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_5_island_group_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_5_island_group_3": {
460
+ "cls": "Drawer"
461
+ },
462
+ "panel_cab_2_island_group_base": {
463
+ "cls": "Box"
464
+ },
465
+ "panel_cab_2_island_group_1": {
466
+ "cls": "PanelCabinet"
467
+ },
468
+ "box_island_group": {
469
+ "cls": "Box"
470
+ }
471
+ },
472
+ "gen_textures": {},
473
+ "lang": "Close the oven door.",
474
+ "fixture_refs": {
475
+ "fxtr": "oven_main_group"
476
+ },
477
+ "cam_configs": {
478
+ "robot0_agentview_center": {
479
+ "pos": [
480
+ -0.6,
481
+ 0.0,
482
+ 1.15
483
+ ],
484
+ "quat": [
485
+ 0.636945903301239,
486
+ 0.3325185477733612,
487
+ -0.3199238181114197,
488
+ -0.6175596117973328
489
+ ],
490
+ "parent_body": "mobilebase0_support"
491
+ },
492
+ "robot0_agentview_left": {
493
+ "pos": [
494
+ -0.5,
495
+ 0.35,
496
+ 1.05
497
+ ],
498
+ "quat": [
499
+ 0.55623853,
500
+ 0.29935253,
501
+ -0.37678665,
502
+ -0.6775092
503
+ ],
504
+ "camera_attribs": {
505
+ "fovy": "60"
506
+ },
507
+ "parent_body": "mobilebase0_support"
508
+ },
509
+ "robot0_agentview_right": {
510
+ "pos": [
511
+ -0.5,
512
+ -0.35,
513
+ 1.05
514
+ ],
515
+ "quat": [
516
+ 0.6775091886520386,
517
+ 0.3767866790294647,
518
+ -0.2993525564670563,
519
+ -0.55623859167099
520
+ ],
521
+ "camera_attribs": {
522
+ "fovy": "60"
523
+ },
524
+ "parent_body": "mobilebase0_support"
525
+ },
526
+ "robot0_frontview": {
527
+ "pos": [
528
+ -0.5,
529
+ 0,
530
+ 0.95
531
+ ],
532
+ "quat": [
533
+ 0.6088936924934387,
534
+ 0.3814677894115448,
535
+ -0.3673907518386841,
536
+ -0.5905545353889465
537
+ ],
538
+ "camera_attribs": {
539
+ "fovy": "60"
540
+ },
541
+ "parent_body": "mobilebase0_support"
542
+ },
543
+ "robot0_eye_in_hand": {
544
+ "pos": [
545
+ 0.05,
546
+ 0,
547
+ 0
548
+ ],
549
+ "quat": [
550
+ 0,
551
+ 0.707107,
552
+ 0.707107,
553
+ 0
554
+ ],
555
+ "parent_body": "robot0_right_hand"
556
+ }
557
+ },
558
+ "init_robot_base_pos": [
559
+ 0.95316983866002,
560
+ -1.3720865918696734,
561
+ 0.0
562
+ ],
563
+ "init_robot_base_ori": [
564
+ 0.0,
565
+ 0.0,
566
+ 1.5707963267948966
567
+ ]
568
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000037/ep_meta.json ADDED
@@ -0,0 +1,596 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 43,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_main_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0015887624829767633,
37
+ 0.005111932346271247,
38
+ -0.15819309910306553
39
+ ],
40
+ "size": [
41
+ 0.5706609889115082,
42
+ 0.4244821215190956
43
+ ],
44
+ "height": 0.3238811801496734,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "steak",
68
+ "meat",
69
+ "food",
70
+ "in_container",
71
+ "oven_ready"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "steak",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_main_group_1",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_main_group_1",
88
+ "min_size": [
89
+ 0.06043349250000001,
90
+ 0.060427580000000015,
91
+ 0.12584012000000003
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "coffee_cup",
112
+ "drink"
113
+ ],
114
+ "groups": [
115
+ "all"
116
+ ],
117
+ "cat": "coffee_cup",
118
+ "split": "train",
119
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_16/model.xml"
120
+ },
121
+ "reset_region": {
122
+ "size": [
123
+ 0.8,
124
+ 0.65
125
+ ],
126
+ "offset": [
127
+ 0.0,
128
+ 0.0,
129
+ 0.46
130
+ ],
131
+ "name": "geom_0"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter_2",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_main_group_1",
139
+ "sample_region_kwargs": {
140
+ "ref": "oven_main_group_1",
141
+ "min_size": [
142
+ 0.101810196,
143
+ 0.101810196,
144
+ 0.25390368
145
+ ]
146
+ },
147
+ "size": [
148
+ 1.0,
149
+ 0.5
150
+ ],
151
+ "pos": [
152
+ null,
153
+ -1.0
154
+ ],
155
+ "offset": [
156
+ 0.0,
157
+ 0.1
158
+ ]
159
+ },
160
+ "type": "object",
161
+ "info": {
162
+ "groups_containing_sampled_obj": [
163
+ "all",
164
+ "jar",
165
+ "decoration",
166
+ "receptacle"
167
+ ],
168
+ "groups": [
169
+ "all"
170
+ ],
171
+ "cat": "jar",
172
+ "split": "train",
173
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar009/model.xml"
174
+ },
175
+ "reset_region": {
176
+ "size": [
177
+ 0.8,
178
+ 0.65
179
+ ],
180
+ "offset": [
181
+ 0.0,
182
+ 0.0,
183
+ 0.46
184
+ ],
185
+ "name": "geom_0"
186
+ }
187
+ }
188
+ ],
189
+ "fixtures": {
190
+ "wall_main_1_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_1_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_left_1_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_left_1_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_left_2_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_left_2_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_left_3_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_left_3_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_front_1_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_front_1_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_right_1_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_right_1_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_right_2_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_right_2_backing_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_front_2_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_front_2_backing_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_main_2_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_main_2_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_left_4_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_left_4_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_left_5_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_left_5_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "floor_1_room": {
257
+ "cls": "Floor"
258
+ },
259
+ "floor_1_backing_room": {
260
+ "cls": "Floor"
261
+ },
262
+ "floor_2_room": {
263
+ "cls": "Floor"
264
+ },
265
+ "floor_2_backing_room": {
266
+ "cls": "Floor"
267
+ },
268
+ "floor_3_room": {
269
+ "cls": "Floor"
270
+ },
271
+ "floor_3_backing_room": {
272
+ "cls": "Floor"
273
+ },
274
+ "wall_accessory_1_room": {
275
+ "cls": "WallAccessory"
276
+ },
277
+ "wall_accessory_2_room": {
278
+ "cls": "WallAccessory"
279
+ },
280
+ "wall_accessory_3_room": {
281
+ "cls": "WallAccessory"
282
+ },
283
+ "light_switch_room": {
284
+ "cls": "WallAccessory"
285
+ },
286
+ "wall_accessory_4_room": {
287
+ "cls": "WallAccessory"
288
+ },
289
+ "wall_accessory_5_room": {
290
+ "cls": "WallAccessory"
291
+ },
292
+ "wall_accessory_6_room": {
293
+ "cls": "WallAccessory"
294
+ },
295
+ "stool_1_room": {
296
+ "cls": "Stool"
297
+ },
298
+ "stool_2_room": {
299
+ "cls": "Stool"
300
+ },
301
+ "stool_3_room": {
302
+ "cls": "Stool"
303
+ },
304
+ "fridge_1_main_group_1": {
305
+ "cls": "FridgeFrenchDoor"
306
+ },
307
+ "fridge_1_housing_main_group_1": {
308
+ "cls": "HousingCabinet"
309
+ },
310
+ "fridge_top_main_group_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "bottom_main_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "bottom_main_group_1_1": {
317
+ "cls": "Drawer"
318
+ },
319
+ "oven_main_group_1": {
320
+ "cls": "Oven"
321
+ },
322
+ "oven_housing_main_group_1": {
323
+ "cls": "HousingCabinet"
324
+ },
325
+ "microwave_main_group_1": {
326
+ "cls": "Microwave"
327
+ },
328
+ "microwave_housing_main_group_1": {
329
+ "cls": "HousingCabinet"
330
+ },
331
+ "top_main_group_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "counter_1_main_group_1": {
335
+ "cls": "Counter"
336
+ },
337
+ "stack_1_main_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_main_group_1_1": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_main_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_1_main_group_1_3": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_2_main_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_2_main_group_1_1": {
353
+ "cls": "SingleCabinet"
354
+ },
355
+ "stack_2_main_group_1_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "cab_1_main_group_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "toaster_main_group_1": {
362
+ "cls": "Toaster"
363
+ },
364
+ "stovetop_1_left_group_1": {
365
+ "cls": "Stovetop"
366
+ },
367
+ "counter_1_left_group_1": {
368
+ "cls": "Counter"
369
+ },
370
+ "stack_1_left_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_1_left_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_1_left_group_1_2": {
377
+ "cls": "PanelCabinet"
378
+ },
379
+ "stack_2_left_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_2_left_group_1_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "stack_2_left_group_1_2": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_3_left_group_1_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_3_left_group_1_1": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "stack_3_left_group_1_2": {
395
+ "cls": "Drawer"
396
+ },
397
+ "hood_left_group_1": {
398
+ "cls": "Hood"
399
+ },
400
+ "cab_1_left_group_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "cab_2_left_group_1": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "coffee_machine_left_group_1": {
407
+ "cls": "CoffeeMachine"
408
+ },
409
+ "counter_1_front_group_1": {
410
+ "cls": "Counter"
411
+ },
412
+ "stack_1_front_group_1_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_1_front_group_1_1": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "stack_1_front_group_1_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_2_front_group_1_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_2_front_group_1_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_2_front_group_1_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_3_front_group_1_base": {
431
+ "cls": "Box"
432
+ },
433
+ "stack_3_front_group_1_1": {
434
+ "cls": "HingeCabinet"
435
+ },
436
+ "stack_3_front_group_1_2": {
437
+ "cls": "Drawer"
438
+ },
439
+ "cab_1_front_group_1": {
440
+ "cls": "HingeCabinet"
441
+ },
442
+ "cab_2_front_group_1": {
443
+ "cls": "HingeCabinet"
444
+ },
445
+ "cab_3_front_group_1": {
446
+ "cls": "HingeCabinet"
447
+ },
448
+ "toaster_oven_front_group_1": {
449
+ "cls": "ToasterOven"
450
+ },
451
+ "sink_island_group": {
452
+ "cls": "Sink"
453
+ },
454
+ "island_island_group": {
455
+ "cls": "Counter"
456
+ },
457
+ "panel_stack_island_group_base": {
458
+ "cls": "Box"
459
+ },
460
+ "panel_stack_island_group_1": {
461
+ "cls": "PanelCabinet"
462
+ },
463
+ "dishwasher_island_group": {
464
+ "cls": "Dishwasher"
465
+ },
466
+ "box_island_group": {
467
+ "cls": "Box"
468
+ },
469
+ "stack_1_island_group_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_1_island_group_1": {
473
+ "cls": "HingeCabinet"
474
+ },
475
+ "stack_1_island_group_2": {
476
+ "cls": "PanelCabinet"
477
+ },
478
+ "stack_2_island_group_base": {
479
+ "cls": "Box"
480
+ },
481
+ "stack_2_island_group_1": {
482
+ "cls": "HingeCabinet"
483
+ },
484
+ "stack_2_island_group_2": {
485
+ "cls": "Drawer"
486
+ },
487
+ "stack_2_island_group_3": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_3_island_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_3_island_group_1": {
494
+ "cls": "PanelCabinet"
495
+ },
496
+ "paper_towel_island_group": {
497
+ "cls": "Accessory"
498
+ }
499
+ },
500
+ "gen_textures": {},
501
+ "lang": "Close the oven door.",
502
+ "fixture_refs": {
503
+ "fxtr": "oven_main_group_1"
504
+ },
505
+ "cam_configs": {
506
+ "robot0_agentview_center": {
507
+ "pos": [
508
+ -0.6,
509
+ 0.0,
510
+ 1.15
511
+ ],
512
+ "quat": [
513
+ 0.636945903301239,
514
+ 0.3325185477733612,
515
+ -0.3199238181114197,
516
+ -0.6175596117973328
517
+ ],
518
+ "parent_body": "mobilebase0_support"
519
+ },
520
+ "robot0_agentview_left": {
521
+ "pos": [
522
+ -0.5,
523
+ 0.35,
524
+ 1.05
525
+ ],
526
+ "quat": [
527
+ 0.55623853,
528
+ 0.29935253,
529
+ -0.37678665,
530
+ -0.6775092
531
+ ],
532
+ "camera_attribs": {
533
+ "fovy": "60"
534
+ },
535
+ "parent_body": "mobilebase0_support"
536
+ },
537
+ "robot0_agentview_right": {
538
+ "pos": [
539
+ -0.5,
540
+ -0.35,
541
+ 1.05
542
+ ],
543
+ "quat": [
544
+ 0.6775091886520386,
545
+ 0.3767866790294647,
546
+ -0.2993525564670563,
547
+ -0.55623859167099
548
+ ],
549
+ "camera_attribs": {
550
+ "fovy": "60"
551
+ },
552
+ "parent_body": "mobilebase0_support"
553
+ },
554
+ "robot0_frontview": {
555
+ "pos": [
556
+ -0.5,
557
+ 0,
558
+ 0.95
559
+ ],
560
+ "quat": [
561
+ 0.6088936924934387,
562
+ 0.3814677894115448,
563
+ -0.3673907518386841,
564
+ -0.5905545353889465
565
+ ],
566
+ "camera_attribs": {
567
+ "fovy": "60"
568
+ },
569
+ "parent_body": "mobilebase0_support"
570
+ },
571
+ "robot0_eye_in_hand": {
572
+ "pos": [
573
+ 0.05,
574
+ 0,
575
+ 0
576
+ ],
577
+ "quat": [
578
+ 0,
579
+ 0.707107,
580
+ 0.707107,
581
+ 0
582
+ ],
583
+ "parent_body": "robot0_right_hand"
584
+ }
585
+ },
586
+ "init_robot_base_pos": [
587
+ 0.9406041990892456,
588
+ -0.8540721467801347,
589
+ 0.0
590
+ ],
591
+ "init_robot_base_ori": [
592
+ 0.0,
593
+ 0.0,
594
+ 1.5707963267948966
595
+ ]
596
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000049/ep_meta.json ADDED
@@ -0,0 +1,409 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 37,
3
+ "style_id": 21,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_left_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0024572801385276954,
37
+ 0.026203076003446082,
38
+ 0.0002766218406292746
39
+ ],
40
+ "size": [
41
+ 0.5443022743904073,
42
+ 0.4638021611084153
43
+ ],
44
+ "height": 0.16346020253844512,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "corn",
68
+ "vegetable",
69
+ "food",
70
+ "in_container",
71
+ "oven_ready"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "corn",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_left_group_1",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_left_group_1",
88
+ "min_size": [
89
+ 0.244743326685,
90
+ 0.24474403597500002,
91
+ 0.023217144615000004
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "plate",
112
+ "receptacle",
113
+ "container",
114
+ "container_set2"
115
+ ],
116
+ "groups": [
117
+ "all"
118
+ ],
119
+ "cat": "plate",
120
+ "split": "train",
121
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
122
+ },
123
+ "reset_region": {
124
+ "size": [
125
+ 1.05035675249004,
126
+ 0.650008
127
+ ],
128
+ "offset": [
129
+ -0.90974012375498,
130
+ -3.469446951953614e-17,
131
+ 0.46
132
+ ],
133
+ "name": "geom_0"
134
+ }
135
+ }
136
+ ],
137
+ "fixtures": {
138
+ "wall_main_1_room": {
139
+ "cls": "Wall"
140
+ },
141
+ "wall_main_1_backing_room": {
142
+ "cls": "Wall"
143
+ },
144
+ "wall_left_1_room": {
145
+ "cls": "Wall"
146
+ },
147
+ "wall_left_1_backing_room": {
148
+ "cls": "Wall"
149
+ },
150
+ "wall_main_2_room": {
151
+ "cls": "Wall"
152
+ },
153
+ "wall_main_2_backing_room": {
154
+ "cls": "Wall"
155
+ },
156
+ "wall_main_3_room": {
157
+ "cls": "Wall"
158
+ },
159
+ "wall_main_3_backing_room": {
160
+ "cls": "Wall"
161
+ },
162
+ "floor_1_room": {
163
+ "cls": "Floor"
164
+ },
165
+ "floor_1_backing_room": {
166
+ "cls": "Floor"
167
+ },
168
+ "wallaccessory_1_room": {
169
+ "cls": "WallAccessory"
170
+ },
171
+ "wallaccessory_2_room": {
172
+ "cls": "WallAccessory"
173
+ },
174
+ "stool_1_room": {
175
+ "cls": "Stool"
176
+ },
177
+ "stool_2_room": {
178
+ "cls": "Stool"
179
+ },
180
+ "stool_3_room": {
181
+ "cls": "Stool"
182
+ },
183
+ "stovetop_left_group_1": {
184
+ "cls": "Stovetop"
185
+ },
186
+ "counter_1_left_group_1": {
187
+ "cls": "Counter"
188
+ },
189
+ "hingecabinet_2_left_group_1": {
190
+ "cls": "HingeCabinet"
191
+ },
192
+ "hingecabinet_1_left_group_1": {
193
+ "cls": "HingeCabinet"
194
+ },
195
+ "microwave_left_group_1": {
196
+ "cls": "Microwave"
197
+ },
198
+ "cab_micro_left_group_1": {
199
+ "cls": "HingeCabinet"
200
+ },
201
+ "cube_1_left_group_1": {
202
+ "cls": "Box"
203
+ },
204
+ "fridgefrenchdoor_left_group_1": {
205
+ "cls": "FridgeFrenchDoor"
206
+ },
207
+ "fridgefrenchdoor_housing_left_group_1": {
208
+ "cls": "HousingCabinet"
209
+ },
210
+ "bottom_left_group_1_base": {
211
+ "cls": "Box"
212
+ },
213
+ "bottom_left_group_1_1": {
214
+ "cls": "Drawer"
215
+ },
216
+ "oven_left_group_1": {
217
+ "cls": "Oven"
218
+ },
219
+ "oven_housing_left_group_1": {
220
+ "cls": "HousingCabinet"
221
+ },
222
+ "hingecabinet_3_left_group_1": {
223
+ "cls": "HingeCabinet"
224
+ },
225
+ "microwave_cabinet_left_group_1": {
226
+ "cls": "HingeCabinet"
227
+ },
228
+ "top_left_group_1": {
229
+ "cls": "HingeCabinet"
230
+ },
231
+ "stack_1_left_group_1_base": {
232
+ "cls": "Box"
233
+ },
234
+ "stack_1_left_group_1_1": {
235
+ "cls": "HingeCabinet"
236
+ },
237
+ "stack_1_left_group_1_2": {
238
+ "cls": "Drawer"
239
+ },
240
+ "stack_2_left_group_1_base": {
241
+ "cls": "Box"
242
+ },
243
+ "stack_2_left_group_1_1": {
244
+ "cls": "Drawer"
245
+ },
246
+ "stack_2_left_group_1_2": {
247
+ "cls": "Drawer"
248
+ },
249
+ "stack_2_left_group_1_3": {
250
+ "cls": "PanelCabinet"
251
+ },
252
+ "stack_3_left_group_1_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_3_left_group_1_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "stack_3_left_group_1_2": {
259
+ "cls": "Drawer"
260
+ },
261
+ "papertowel_left_group_1": {
262
+ "cls": "Accessory"
263
+ },
264
+ "coffee_machine_left_group_1": {
265
+ "cls": "CoffeeMachine"
266
+ },
267
+ "toaster_left_group_1": {
268
+ "cls": "Toaster"
269
+ },
270
+ "sink_island_group_1": {
271
+ "cls": "Sink"
272
+ },
273
+ "island_island_group_1": {
274
+ "cls": "Counter"
275
+ },
276
+ "cube_5_island_group_1": {
277
+ "cls": "Box"
278
+ },
279
+ "cube_1_island_group_1": {
280
+ "cls": "Box"
281
+ },
282
+ "cube_2_island_group_1": {
283
+ "cls": "Box"
284
+ },
285
+ "cube_3_island_group_1": {
286
+ "cls": "Box"
287
+ },
288
+ "cube_4_island_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_2_island_group_1_base": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_2_island_group_1_1": {
295
+ "cls": "SingleCabinet"
296
+ },
297
+ "stack_2_island_group_1_2": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_1_island_group_1_base": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_1_island_group_1_1": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "stack_1_island_group_1_2": {
307
+ "cls": "PanelCabinet"
308
+ },
309
+ "dishwasher_1_island_group_1": {
310
+ "cls": "Dishwasher"
311
+ }
312
+ },
313
+ "gen_textures": {},
314
+ "lang": "Close the oven door.",
315
+ "fixture_refs": {
316
+ "fxtr": "oven_left_group_1"
317
+ },
318
+ "cam_configs": {
319
+ "robot0_agentview_center": {
320
+ "pos": [
321
+ -0.6,
322
+ 0.0,
323
+ 1.15
324
+ ],
325
+ "quat": [
326
+ 0.636945903301239,
327
+ 0.3325185477733612,
328
+ -0.3199238181114197,
329
+ -0.6175596117973328
330
+ ],
331
+ "parent_body": "mobilebase0_support"
332
+ },
333
+ "robot0_agentview_left": {
334
+ "pos": [
335
+ -0.5,
336
+ 0.35,
337
+ 1.05
338
+ ],
339
+ "quat": [
340
+ 0.55623853,
341
+ 0.29935253,
342
+ -0.37678665,
343
+ -0.6775092
344
+ ],
345
+ "camera_attribs": {
346
+ "fovy": "60"
347
+ },
348
+ "parent_body": "mobilebase0_support"
349
+ },
350
+ "robot0_agentview_right": {
351
+ "pos": [
352
+ -0.5,
353
+ -0.35,
354
+ 1.05
355
+ ],
356
+ "quat": [
357
+ 0.6775091886520386,
358
+ 0.3767866790294647,
359
+ -0.2993525564670563,
360
+ -0.55623859167099
361
+ ],
362
+ "camera_attribs": {
363
+ "fovy": "60"
364
+ },
365
+ "parent_body": "mobilebase0_support"
366
+ },
367
+ "robot0_frontview": {
368
+ "pos": [
369
+ -0.5,
370
+ 0,
371
+ 0.95
372
+ ],
373
+ "quat": [
374
+ 0.6088936924934387,
375
+ 0.3814677894115448,
376
+ -0.3673907518386841,
377
+ -0.5905545353889465
378
+ ],
379
+ "camera_attribs": {
380
+ "fovy": "60"
381
+ },
382
+ "parent_body": "mobilebase0_support"
383
+ },
384
+ "robot0_eye_in_hand": {
385
+ "pos": [
386
+ 0.05,
387
+ 0,
388
+ 0
389
+ ],
390
+ "quat": [
391
+ 0,
392
+ 0.707107,
393
+ 0.707107,
394
+ 0
395
+ ],
396
+ "parent_body": "robot0_right_hand"
397
+ }
398
+ },
399
+ "init_robot_base_pos": [
400
+ 1.2270317381222913,
401
+ -3.6247850700921744,
402
+ 0.0
403
+ ],
404
+ "init_robot_base_ori": [
405
+ 0.0,
406
+ 0.0,
407
+ 3.1412906566438026
408
+ ]
409
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000053/ep_meta.json ADDED
@@ -0,0 +1,543 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 31,
3
+ "style_id": 59,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_main_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray005/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.000967725049666579,
37
+ 0.014792512974032473,
38
+ -0.017215759673667487
39
+ ],
40
+ "size": [
41
+ 0.5316172721732164,
42
+ 0.34443253763527776
43
+ ],
44
+ "height": 0.06116274067654327,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "bell_pepper",
68
+ "vegetable",
69
+ "food",
70
+ "in_container"
71
+ ],
72
+ "groups": [
73
+ "all"
74
+ ],
75
+ "cat": "bell_pepper",
76
+ "split": "train",
77
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml"
78
+ }
79
+ },
80
+ {
81
+ "name": "distr_counter_1",
82
+ "obj_groups": "all",
83
+ "placement": {
84
+ "fixture": "island_island_group_1",
85
+ "sample_region_kwargs": {
86
+ "ref": "oven_main_group_1",
87
+ "min_size": [
88
+ 0.160447714,
89
+ 0.305947362,
90
+ 0.07355168799999999
91
+ ]
92
+ },
93
+ "size": [
94
+ 1.0,
95
+ 0.5
96
+ ],
97
+ "pos": [
98
+ null,
99
+ -1.0
100
+ ],
101
+ "offset": [
102
+ 0.0,
103
+ 0.1
104
+ ]
105
+ },
106
+ "type": "object",
107
+ "info": {
108
+ "groups_containing_sampled_obj": [
109
+ "all",
110
+ "strainer",
111
+ "tool",
112
+ "receptacle",
113
+ "in_container"
114
+ ],
115
+ "groups": [
116
+ "all"
117
+ ],
118
+ "cat": "strainer",
119
+ "split": "train",
120
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/strainer/Strainer005/model.xml"
121
+ },
122
+ "reset_region": {
123
+ "size": [
124
+ 1.5326183970665355,
125
+ 1.3
126
+ ],
127
+ "offset": [
128
+ 1.2836723014667322,
129
+ 2.0816681711721685e-17,
130
+ 0.46
131
+ ],
132
+ "name": "geom_0"
133
+ }
134
+ },
135
+ {
136
+ "name": "distr_counter_2",
137
+ "obj_groups": "all",
138
+ "placement": {
139
+ "fixture": "island_island_group_1",
140
+ "sample_region_kwargs": {
141
+ "ref": "oven_main_group_1",
142
+ "min_size": [
143
+ 0.09278913932572719,
144
+ 0.2044586313360668,
145
+ 0.007789590089999999
146
+ ]
147
+ },
148
+ "size": [
149
+ 1.0,
150
+ 0.5
151
+ ],
152
+ "pos": [
153
+ null,
154
+ -1.0
155
+ ],
156
+ "offset": [
157
+ 0.0,
158
+ 0.1
159
+ ]
160
+ },
161
+ "type": "object",
162
+ "info": {
163
+ "groups_containing_sampled_obj": [
164
+ "all",
165
+ "scissors",
166
+ "tool",
167
+ "in_container"
168
+ ],
169
+ "groups": [
170
+ "all"
171
+ ],
172
+ "cat": "scissors",
173
+ "split": "train",
174
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_10/model.xml"
175
+ },
176
+ "reset_region": {
177
+ "size": [
178
+ 1.5326183970665355,
179
+ 1.3
180
+ ],
181
+ "offset": [
182
+ 1.2836723014667322,
183
+ 2.0816681711721685e-17,
184
+ 0.46
185
+ ],
186
+ "name": "geom_0"
187
+ }
188
+ }
189
+ ],
190
+ "fixtures": {
191
+ "wall_main_1_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_main_1_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_1_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_1_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_main_2_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_main_2_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_left_1_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_left_1_backing_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_main_3_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_main_3_backing_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "floor_1_room": {
222
+ "cls": "Floor"
223
+ },
224
+ "floor_1_backing_room": {
225
+ "cls": "Floor"
226
+ },
227
+ "floor_2_room": {
228
+ "cls": "Floor"
229
+ },
230
+ "floor_2_backing_room": {
231
+ "cls": "Floor"
232
+ },
233
+ "stool_3_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_2_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "stool_1_room": {
240
+ "cls": "Stool"
241
+ },
242
+ "stack_1_main_group_1_base": {
243
+ "cls": "Box"
244
+ },
245
+ "stack_1_main_group_1_1": {
246
+ "cls": "HingeCabinet"
247
+ },
248
+ "fridgebottomfreezer_main_group_1": {
249
+ "cls": "FridgeBottomFreezer"
250
+ },
251
+ "fridgebottomfreezer_housing_main_group_1": {
252
+ "cls": "HousingCabinet"
253
+ },
254
+ "bottom_main_group_1_base": {
255
+ "cls": "Box"
256
+ },
257
+ "bottom_main_group_1_1": {
258
+ "cls": "Drawer"
259
+ },
260
+ "oven_main_group_1": {
261
+ "cls": "Oven"
262
+ },
263
+ "microwave_main_group_1": {
264
+ "cls": "Microwave"
265
+ },
266
+ "hingecabinet_2_main_group_1": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "hingecabinet_3_main_group_1": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "cube_2_main_group_1": {
273
+ "cls": "Box"
274
+ },
275
+ "cube_3_main_group_1": {
276
+ "cls": "Box"
277
+ },
278
+ "cube_1_main_group_1": {
279
+ "cls": "Box"
280
+ },
281
+ "oven_housing_main_group_1": {
282
+ "cls": "HousingCabinet"
283
+ },
284
+ "hingecabinet_1_main_group_1": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "microwave_housing_main_group_1": {
288
+ "cls": "HousingCabinet"
289
+ },
290
+ "top_main_group_1": {
291
+ "cls": "HingeCabinet"
292
+ },
293
+ "stovetop_right_group_1": {
294
+ "cls": "Stovetop"
295
+ },
296
+ "counter_1_right_group_1": {
297
+ "cls": "Counter"
298
+ },
299
+ "hingecabinet_1_right_group_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "hingecabinet_2_right_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "hingecabinet_3_right_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "hingecabinet_4_right_group_1": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "hood_right_group_1": {
312
+ "cls": "Hood"
313
+ },
314
+ "stack_2_right_group_1_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_2_right_group_1_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "stack_2_right_group_1_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_1_right_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_1_right_group_1_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_1_right_group_1_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_4_right_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_4_right_group_1_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_4_right_group_1_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_right_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_3_right_group_1_1": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_right_group_1_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_3_right_group_1_3": {
351
+ "cls": "PanelCabinet"
352
+ },
353
+ "stack_5_right_group_1_base": {
354
+ "cls": "Box"
355
+ },
356
+ "stack_5_right_group_1_1": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "stack_5_right_group_1_2": {
360
+ "cls": "Drawer"
361
+ },
362
+ "coffee_machine_right_group_1": {
363
+ "cls": "CoffeeMachine"
364
+ },
365
+ "toaster_right_group_1": {
366
+ "cls": "Toaster"
367
+ },
368
+ "papertowel_right_group_1": {
369
+ "cls": "Accessory"
370
+ },
371
+ "toaster_oven_right_group_1": {
372
+ "cls": "ToasterOven"
373
+ },
374
+ "sink_island_group_1": {
375
+ "cls": "Sink"
376
+ },
377
+ "island_island_group_1": {
378
+ "cls": "Counter"
379
+ },
380
+ "cube_1_island_group_1": {
381
+ "cls": "Box"
382
+ },
383
+ "cube_2_island_group_1": {
384
+ "cls": "Box"
385
+ },
386
+ "cube_3_island_group_1": {
387
+ "cls": "Box"
388
+ },
389
+ "cube_4_island_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "cube_5_island_group_1": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_1_island_group_1_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_1_island_group_1_1": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_1_island_group_1_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_1_island_group_1_3": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_2_island_group_1_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_2_island_group_1_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "stack_3_island_group_1_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_3_island_group_1_1": {
417
+ "cls": "SingleCabinet"
418
+ },
419
+ "stack_4_island_group_1_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_4_island_group_1_1": {
423
+ "cls": "SingleCabinet"
424
+ },
425
+ "stack_5_island_group_1_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_5_island_group_1_1": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_5_island_group_1_2": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_5_island_group_1_3": {
435
+ "cls": "Drawer"
436
+ },
437
+ "cube_6_island_group_1": {
438
+ "cls": "Box"
439
+ },
440
+ "cube_7_island_group_1": {
441
+ "cls": "Box"
442
+ },
443
+ "dishwasher_1_island_group_1": {
444
+ "cls": "Dishwasher"
445
+ }
446
+ },
447
+ "gen_textures": {},
448
+ "lang": "Close the oven door.",
449
+ "fixture_refs": {
450
+ "fxtr": "oven_main_group_1"
451
+ },
452
+ "cam_configs": {
453
+ "robot0_agentview_center": {
454
+ "pos": [
455
+ -0.6,
456
+ 0.0,
457
+ 1.15
458
+ ],
459
+ "quat": [
460
+ 0.636945903301239,
461
+ 0.3325185477733612,
462
+ -0.3199238181114197,
463
+ -0.6175596117973328
464
+ ],
465
+ "parent_body": "mobilebase0_support"
466
+ },
467
+ "robot0_agentview_left": {
468
+ "pos": [
469
+ -0.5,
470
+ 0.35,
471
+ 1.05
472
+ ],
473
+ "quat": [
474
+ 0.55623853,
475
+ 0.29935253,
476
+ -0.37678665,
477
+ -0.6775092
478
+ ],
479
+ "camera_attribs": {
480
+ "fovy": "60"
481
+ },
482
+ "parent_body": "mobilebase0_support"
483
+ },
484
+ "robot0_agentview_right": {
485
+ "pos": [
486
+ -0.5,
487
+ -0.35,
488
+ 1.05
489
+ ],
490
+ "quat": [
491
+ 0.6775091886520386,
492
+ 0.3767866790294647,
493
+ -0.2993525564670563,
494
+ -0.55623859167099
495
+ ],
496
+ "camera_attribs": {
497
+ "fovy": "60"
498
+ },
499
+ "parent_body": "mobilebase0_support"
500
+ },
501
+ "robot0_frontview": {
502
+ "pos": [
503
+ -0.5,
504
+ 0,
505
+ 0.95
506
+ ],
507
+ "quat": [
508
+ 0.6088936924934387,
509
+ 0.3814677894115448,
510
+ -0.3673907518386841,
511
+ -0.5905545353889465
512
+ ],
513
+ "camera_attribs": {
514
+ "fovy": "60"
515
+ },
516
+ "parent_body": "mobilebase0_support"
517
+ },
518
+ "robot0_eye_in_hand": {
519
+ "pos": [
520
+ 0.05,
521
+ 0,
522
+ 0
523
+ ],
524
+ "quat": [
525
+ 0,
526
+ 0.707107,
527
+ 0.707107,
528
+ 0
529
+ ],
530
+ "parent_body": "robot0_right_hand"
531
+ }
532
+ },
533
+ "init_robot_base_pos": [
534
+ 1.414291820701008,
535
+ -1.3035382035516552,
536
+ 0.0
537
+ ],
538
+ "init_robot_base_ori": [
539
+ 0.0,
540
+ 0.0,
541
+ 1.5707963267948966
542
+ ]
543
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000056/ep_meta.json ADDED
@@ -0,0 +1,487 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 42,
3
+ "style_id": 33,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_right_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ -0.003552272449672822,
37
+ 0.0200473733935803,
38
+ -0.02137208055047561
39
+ ],
40
+ "size": [
41
+ 0.5562461472479844,
42
+ 0.4275802516063978
43
+ ],
44
+ "height": 0.17941404040769782,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "cheese",
68
+ "dairy",
69
+ "food",
70
+ "in_container",
71
+ "food_set1"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "cheese",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_right_group_1",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_right_group_1",
88
+ "min_size": [
89
+ 0.06515116499999997,
90
+ 0.07499999999999997,
91
+ 0.07032914699999997
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "lime",
112
+ "vegetable",
113
+ "food",
114
+ "in_container"
115
+ ],
116
+ "groups": [
117
+ "all"
118
+ ],
119
+ "cat": "lime",
120
+ "split": "train",
121
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml"
122
+ },
123
+ "reset_region": {
124
+ "size": [
125
+ 0.7650422152651121,
126
+ 0.65
127
+ ],
128
+ "offset": [
129
+ 0.8999788923674437,
130
+ -3.469446951953614e-17,
131
+ 0.46
132
+ ],
133
+ "name": "geom_0"
134
+ }
135
+ }
136
+ ],
137
+ "fixtures": {
138
+ "wall_left_1_room": {
139
+ "cls": "Wall"
140
+ },
141
+ "wall_left_1_backing_room": {
142
+ "cls": "Wall"
143
+ },
144
+ "wall_main_1_room": {
145
+ "cls": "Wall"
146
+ },
147
+ "wall_main_1_backing_room": {
148
+ "cls": "Wall"
149
+ },
150
+ "wall_right_1_room": {
151
+ "cls": "Wall"
152
+ },
153
+ "wall_right_1_backing_room": {
154
+ "cls": "Wall"
155
+ },
156
+ "wall_main_2_room": {
157
+ "cls": "Wall"
158
+ },
159
+ "wall_main_2_backing_room": {
160
+ "cls": "Wall"
161
+ },
162
+ "wall_main_3_room": {
163
+ "cls": "Wall"
164
+ },
165
+ "wall_main_3_backing_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_main_4_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_main_4_backing_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_left_2_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_left_2_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "floor_1_room": {
181
+ "cls": "Floor"
182
+ },
183
+ "floor_1_backing_room": {
184
+ "cls": "Floor"
185
+ },
186
+ "floor_2_room": {
187
+ "cls": "Floor"
188
+ },
189
+ "floor_2_backing_room": {
190
+ "cls": "Floor"
191
+ },
192
+ "wallaccessory_room": {
193
+ "cls": "WallAccessory"
194
+ },
195
+ "lightswitch_room": {
196
+ "cls": "WallAccessory"
197
+ },
198
+ "wallaccessory.002_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "window_group_room": {
202
+ "cls": "Window"
203
+ },
204
+ "stool_1_room": {
205
+ "cls": "Stool"
206
+ },
207
+ "stool_2_room": {
208
+ "cls": "Stool"
209
+ },
210
+ "stool_4_room": {
211
+ "cls": "Stool"
212
+ },
213
+ "stool_3_room": {
214
+ "cls": "Stool"
215
+ },
216
+ "counter_1_main_group_1": {
217
+ "cls": "Counter"
218
+ },
219
+ "counter_corner_1_main_group_1": {
220
+ "cls": "Counter"
221
+ },
222
+ "stack_1_main_group_1_base": {
223
+ "cls": "Box"
224
+ },
225
+ "stack_1_main_group_1_1": {
226
+ "cls": "HingeCabinet"
227
+ },
228
+ "cube_1_main_group_1": {
229
+ "cls": "Box"
230
+ },
231
+ "fridgefrenchdoor_main_group_1": {
232
+ "cls": "FridgeFrenchDoor"
233
+ },
234
+ "fridgefrenchdoor_housing_main_group_1": {
235
+ "cls": "HousingCabinet"
236
+ },
237
+ "hingecabinet_1_main_group_1": {
238
+ "cls": "HingeCabinet"
239
+ },
240
+ "coffeemachine_main_group_1": {
241
+ "cls": "CoffeeMachine"
242
+ },
243
+ "papertowel_main_group_1": {
244
+ "cls": "Accessory"
245
+ },
246
+ "stovetop_right_group_1": {
247
+ "cls": "Stovetop"
248
+ },
249
+ "counter_1_right_group_1": {
250
+ "cls": "Counter"
251
+ },
252
+ "hingecabinet_3_right_group_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "hingecabinet_4_right_group_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "hingecabinet_1_right_group_1": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "hingecabinet_2_right_group_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_1_right_group_1_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_1_right_group_1_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "stack_2_right_group_1_base": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_2_right_group_1_1": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_2_right_group_1_2": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_2_right_group_1_3": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_3_right_group_1_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_3_right_group_1_1": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_3_right_group_1_2": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_3_right_group_1_3": {
292
+ "cls": "PanelCabinet"
293
+ },
294
+ "stack_4_right_group_1_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_4_right_group_1_1": {
298
+ "cls": "HingeCabinet"
299
+ },
300
+ "stack_4_right_group_1_2": {
301
+ "cls": "Drawer"
302
+ },
303
+ "cube_1_right_group_1": {
304
+ "cls": "Box"
305
+ },
306
+ "bottom_right_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "bottom_right_group_1_1": {
310
+ "cls": "Drawer"
311
+ },
312
+ "oven_right_group_1": {
313
+ "cls": "Oven"
314
+ },
315
+ "oven_housing_right_group_1": {
316
+ "cls": "HousingCabinet"
317
+ },
318
+ "microwave_right_group_1": {
319
+ "cls": "Microwave"
320
+ },
321
+ "microwave_housing_right_group_1": {
322
+ "cls": "HousingCabinet"
323
+ },
324
+ "top_right_group_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "toaster_right_group_1": {
328
+ "cls": "Toaster"
329
+ },
330
+ "counter_1_left_group_1": {
331
+ "cls": "Counter"
332
+ },
333
+ "stack_1_left_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_1_left_group_1_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "stack_2_left_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_2_left_group_1_1": {
343
+ "cls": "SingleCabinet"
344
+ },
345
+ "knifeblock_left_group_1": {
346
+ "cls": "Accessory"
347
+ },
348
+ "toaster_oven_left_group_1": {
349
+ "cls": "ToasterOven"
350
+ },
351
+ "plant_left_group_1": {
352
+ "cls": "Accessory"
353
+ },
354
+ "cube_1_island_group_1": {
355
+ "cls": "Box"
356
+ },
357
+ "cube_2_island_group_1": {
358
+ "cls": "Box"
359
+ },
360
+ "cube_3_island_group_1": {
361
+ "cls": "Box"
362
+ },
363
+ "sink_island_group_1": {
364
+ "cls": "Sink"
365
+ },
366
+ "island_island_group_1": {
367
+ "cls": "Counter"
368
+ },
369
+ "stack_1_island_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_1_island_group_1_1": {
373
+ "cls": "SingleCabinet"
374
+ },
375
+ "stack_3_island_group_1_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_3_island_group_1_1": {
379
+ "cls": "SingleCabinet"
380
+ },
381
+ "stack_2_island_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_2_island_group_1_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "dishwasher_1_island_group_1": {
388
+ "cls": "Dishwasher"
389
+ }
390
+ },
391
+ "gen_textures": {},
392
+ "lang": "Close the oven door.",
393
+ "fixture_refs": {
394
+ "fxtr": "oven_right_group_1"
395
+ },
396
+ "cam_configs": {
397
+ "robot0_agentview_center": {
398
+ "pos": [
399
+ -0.6,
400
+ 0.0,
401
+ 1.15
402
+ ],
403
+ "quat": [
404
+ 0.636945903301239,
405
+ 0.3325185477733612,
406
+ -0.3199238181114197,
407
+ -0.6175596117973328
408
+ ],
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_agentview_left": {
412
+ "pos": [
413
+ -0.5,
414
+ 0.35,
415
+ 1.05
416
+ ],
417
+ "quat": [
418
+ 0.55623853,
419
+ 0.29935253,
420
+ -0.37678665,
421
+ -0.6775092
422
+ ],
423
+ "camera_attribs": {
424
+ "fovy": "60"
425
+ },
426
+ "parent_body": "mobilebase0_support"
427
+ },
428
+ "robot0_agentview_right": {
429
+ "pos": [
430
+ -0.5,
431
+ -0.35,
432
+ 1.05
433
+ ],
434
+ "quat": [
435
+ 0.6775091886520386,
436
+ 0.3767866790294647,
437
+ -0.2993525564670563,
438
+ -0.55623859167099
439
+ ],
440
+ "camera_attribs": {
441
+ "fovy": "60"
442
+ },
443
+ "parent_body": "mobilebase0_support"
444
+ },
445
+ "robot0_frontview": {
446
+ "pos": [
447
+ -0.5,
448
+ 0,
449
+ 0.95
450
+ ],
451
+ "quat": [
452
+ 0.6088936924934387,
453
+ 0.3814677894115448,
454
+ -0.3673907518386841,
455
+ -0.5905545353889465
456
+ ],
457
+ "camera_attribs": {
458
+ "fovy": "60"
459
+ },
460
+ "parent_body": "mobilebase0_support"
461
+ },
462
+ "robot0_eye_in_hand": {
463
+ "pos": [
464
+ 0.05,
465
+ 0,
466
+ 0
467
+ ],
468
+ "quat": [
469
+ 0,
470
+ 0.707107,
471
+ 0.707107,
472
+ 0
473
+ ],
474
+ "parent_body": "robot0_right_hand"
475
+ }
476
+ },
477
+ "init_robot_base_pos": [
478
+ 4.003580082521342,
479
+ -3.0446207473294895,
480
+ 0.0
481
+ ],
482
+ "init_robot_base_ori": [
483
+ 0.0,
484
+ 0.0,
485
+ 0.00030199704781619374
486
+ ]
487
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000064/ep_meta.json ADDED
@@ -0,0 +1,597 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 53,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_main_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0011672621723078092,
37
+ 0.0054378677266151,
38
+ -0.1255557820558667
39
+ ],
40
+ "size": [
41
+ 0.5617580251994534,
42
+ 0.5055596338129427
43
+ ],
44
+ "height": 0.11004747311749807,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "cream_cheese_stick",
68
+ "dairy",
69
+ "food",
70
+ "in_container"
71
+ ],
72
+ "groups": [
73
+ "all"
74
+ ],
75
+ "cat": "cream_cheese_stick",
76
+ "split": "train",
77
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick001/model.xml"
78
+ }
79
+ },
80
+ {
81
+ "name": "distr_counter_1",
82
+ "obj_groups": "all",
83
+ "placement": {
84
+ "fixture": "counter_1_main_group_1",
85
+ "sample_region_kwargs": {
86
+ "ref": "oven_main_group_1",
87
+ "min_size": [
88
+ 0.09726746624999996,
89
+ 0.13574656619999995,
90
+ 0.030184386749999986
91
+ ]
92
+ },
93
+ "size": [
94
+ 1.0,
95
+ 0.5
96
+ ],
97
+ "pos": [
98
+ null,
99
+ -1.0
100
+ ],
101
+ "offset": [
102
+ 0.0,
103
+ 0.1
104
+ ]
105
+ },
106
+ "type": "object",
107
+ "info": {
108
+ "groups_containing_sampled_obj": [
109
+ "all",
110
+ "bagged_food",
111
+ "packaged_food"
112
+ ],
113
+ "groups": [
114
+ "all"
115
+ ],
116
+ "cat": "bagged_food",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_11/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "size": [
122
+ 0.8,
123
+ 0.65
124
+ ],
125
+ "offset": [
126
+ 0.0,
127
+ 0.0,
128
+ 0.46
129
+ ],
130
+ "name": "geom_0"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter_2",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_1_main_group_1",
138
+ "sample_region_kwargs": {
139
+ "ref": "oven_main_group_1",
140
+ "min_size": [
141
+ 0.06648958553999999,
142
+ 0.16172615602499998,
143
+ 0.0644791624575
144
+ ]
145
+ },
146
+ "size": [
147
+ 1.0,
148
+ 0.5
149
+ ],
150
+ "pos": [
151
+ null,
152
+ -1.0
153
+ ],
154
+ "offset": [
155
+ 0.0,
156
+ 0.1
157
+ ]
158
+ },
159
+ "type": "object",
160
+ "info": {
161
+ "groups_containing_sampled_obj": [
162
+ "all",
163
+ "corn",
164
+ "vegetable",
165
+ "food",
166
+ "in_container",
167
+ "oven_ready"
168
+ ],
169
+ "groups": [
170
+ "all"
171
+ ],
172
+ "cat": "corn",
173
+ "split": "train",
174
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml"
175
+ },
176
+ "reset_region": {
177
+ "size": [
178
+ 0.8,
179
+ 0.65
180
+ ],
181
+ "offset": [
182
+ 0.0,
183
+ 0.0,
184
+ 0.46
185
+ ],
186
+ "name": "geom_0"
187
+ }
188
+ }
189
+ ],
190
+ "fixtures": {
191
+ "wall_main_1_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_main_1_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_left_1_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_left_1_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_left_2_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_left_2_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_left_3_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_left_3_backing_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_front_1_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_front_1_backing_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_right_1_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_right_1_backing_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_right_2_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_right_2_backing_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_front_2_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_front_2_backing_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_main_2_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_main_2_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_4_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_4_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_left_5_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_left_5_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "floor_1_room": {
258
+ "cls": "Floor"
259
+ },
260
+ "floor_1_backing_room": {
261
+ "cls": "Floor"
262
+ },
263
+ "floor_2_room": {
264
+ "cls": "Floor"
265
+ },
266
+ "floor_2_backing_room": {
267
+ "cls": "Floor"
268
+ },
269
+ "floor_3_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "floor_3_backing_room": {
273
+ "cls": "Floor"
274
+ },
275
+ "wall_accessory_1_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "wall_accessory_2_room": {
279
+ "cls": "WallAccessory"
280
+ },
281
+ "wall_accessory_3_room": {
282
+ "cls": "WallAccessory"
283
+ },
284
+ "light_switch_room": {
285
+ "cls": "WallAccessory"
286
+ },
287
+ "wall_accessory_4_room": {
288
+ "cls": "WallAccessory"
289
+ },
290
+ "wall_accessory_5_room": {
291
+ "cls": "WallAccessory"
292
+ },
293
+ "wall_accessory_6_room": {
294
+ "cls": "WallAccessory"
295
+ },
296
+ "stool_1_room": {
297
+ "cls": "Stool"
298
+ },
299
+ "stool_2_room": {
300
+ "cls": "Stool"
301
+ },
302
+ "stool_3_room": {
303
+ "cls": "Stool"
304
+ },
305
+ "fridge_1_main_group_1": {
306
+ "cls": "FridgeFrenchDoor"
307
+ },
308
+ "fridge_1_housing_main_group_1": {
309
+ "cls": "HousingCabinet"
310
+ },
311
+ "fridge_top_main_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "bottom_main_group_1_base": {
315
+ "cls": "Box"
316
+ },
317
+ "bottom_main_group_1_1": {
318
+ "cls": "Drawer"
319
+ },
320
+ "oven_main_group_1": {
321
+ "cls": "Oven"
322
+ },
323
+ "oven_housing_main_group_1": {
324
+ "cls": "HousingCabinet"
325
+ },
326
+ "microwave_main_group_1": {
327
+ "cls": "Microwave"
328
+ },
329
+ "microwave_housing_main_group_1": {
330
+ "cls": "HousingCabinet"
331
+ },
332
+ "top_main_group_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "counter_1_main_group_1": {
336
+ "cls": "Counter"
337
+ },
338
+ "stack_1_main_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_1_main_group_1_1": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_1_main_group_1_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_1_main_group_1_3": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_2_main_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_2_main_group_1_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "stack_2_main_group_1_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "cab_1_main_group_1": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "toaster_main_group_1": {
363
+ "cls": "Toaster"
364
+ },
365
+ "stovetop_1_left_group_1": {
366
+ "cls": "Stovetop"
367
+ },
368
+ "counter_1_left_group_1": {
369
+ "cls": "Counter"
370
+ },
371
+ "stack_1_left_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_1_left_group_1_1": {
375
+ "cls": "HingeCabinet"
376
+ },
377
+ "stack_1_left_group_1_2": {
378
+ "cls": "PanelCabinet"
379
+ },
380
+ "stack_2_left_group_1_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_2_left_group_1_1": {
384
+ "cls": "HingeCabinet"
385
+ },
386
+ "stack_2_left_group_1_2": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_3_left_group_1_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_3_left_group_1_1": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "stack_3_left_group_1_2": {
396
+ "cls": "Drawer"
397
+ },
398
+ "hood_left_group_1": {
399
+ "cls": "Hood"
400
+ },
401
+ "cab_1_left_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "cab_2_left_group_1": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "coffee_machine_left_group_1": {
408
+ "cls": "CoffeeMachine"
409
+ },
410
+ "counter_1_front_group_1": {
411
+ "cls": "Counter"
412
+ },
413
+ "stack_1_front_group_1_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_1_front_group_1_1": {
417
+ "cls": "HingeCabinet"
418
+ },
419
+ "stack_1_front_group_1_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_2_front_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_2_front_group_1_1": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "stack_2_front_group_1_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_3_front_group_1_base": {
432
+ "cls": "Box"
433
+ },
434
+ "stack_3_front_group_1_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "stack_3_front_group_1_2": {
438
+ "cls": "Drawer"
439
+ },
440
+ "cab_1_front_group_1": {
441
+ "cls": "HingeCabinet"
442
+ },
443
+ "cab_2_front_group_1": {
444
+ "cls": "HingeCabinet"
445
+ },
446
+ "cab_3_front_group_1": {
447
+ "cls": "HingeCabinet"
448
+ },
449
+ "toaster_oven_front_group_1": {
450
+ "cls": "ToasterOven"
451
+ },
452
+ "sink_island_group": {
453
+ "cls": "Sink"
454
+ },
455
+ "island_island_group": {
456
+ "cls": "Counter"
457
+ },
458
+ "panel_stack_island_group_base": {
459
+ "cls": "Box"
460
+ },
461
+ "panel_stack_island_group_1": {
462
+ "cls": "PanelCabinet"
463
+ },
464
+ "dishwasher_island_group": {
465
+ "cls": "Dishwasher"
466
+ },
467
+ "box_island_group": {
468
+ "cls": "Box"
469
+ },
470
+ "stack_1_island_group_base": {
471
+ "cls": "Box"
472
+ },
473
+ "stack_1_island_group_1": {
474
+ "cls": "HingeCabinet"
475
+ },
476
+ "stack_1_island_group_2": {
477
+ "cls": "PanelCabinet"
478
+ },
479
+ "stack_2_island_group_base": {
480
+ "cls": "Box"
481
+ },
482
+ "stack_2_island_group_1": {
483
+ "cls": "HingeCabinet"
484
+ },
485
+ "stack_2_island_group_2": {
486
+ "cls": "Drawer"
487
+ },
488
+ "stack_2_island_group_3": {
489
+ "cls": "Drawer"
490
+ },
491
+ "stack_3_island_group_base": {
492
+ "cls": "Box"
493
+ },
494
+ "stack_3_island_group_1": {
495
+ "cls": "PanelCabinet"
496
+ },
497
+ "paper_towel_island_group": {
498
+ "cls": "Accessory"
499
+ }
500
+ },
501
+ "gen_textures": {},
502
+ "lang": "Close the oven door.",
503
+ "fixture_refs": {
504
+ "fxtr": "oven_main_group_1"
505
+ },
506
+ "cam_configs": {
507
+ "robot0_agentview_center": {
508
+ "pos": [
509
+ -0.6,
510
+ 0.0,
511
+ 1.15
512
+ ],
513
+ "quat": [
514
+ 0.636945903301239,
515
+ 0.3325185477733612,
516
+ -0.3199238181114197,
517
+ -0.6175596117973328
518
+ ],
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_agentview_left": {
522
+ "pos": [
523
+ -0.5,
524
+ 0.35,
525
+ 1.05
526
+ ],
527
+ "quat": [
528
+ 0.55623853,
529
+ 0.29935253,
530
+ -0.37678665,
531
+ -0.6775092
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_agentview_right": {
539
+ "pos": [
540
+ -0.5,
541
+ -0.35,
542
+ 1.05
543
+ ],
544
+ "quat": [
545
+ 0.6775091886520386,
546
+ 0.3767866790294647,
547
+ -0.2993525564670563,
548
+ -0.55623859167099
549
+ ],
550
+ "camera_attribs": {
551
+ "fovy": "60"
552
+ },
553
+ "parent_body": "mobilebase0_support"
554
+ },
555
+ "robot0_frontview": {
556
+ "pos": [
557
+ -0.5,
558
+ 0,
559
+ 0.95
560
+ ],
561
+ "quat": [
562
+ 0.6088936924934387,
563
+ 0.3814677894115448,
564
+ -0.3673907518386841,
565
+ -0.5905545353889465
566
+ ],
567
+ "camera_attribs": {
568
+ "fovy": "60"
569
+ },
570
+ "parent_body": "mobilebase0_support"
571
+ },
572
+ "robot0_eye_in_hand": {
573
+ "pos": [
574
+ 0.05,
575
+ 0,
576
+ 0
577
+ ],
578
+ "quat": [
579
+ 0,
580
+ 0.707107,
581
+ 0.707107,
582
+ 0
583
+ ],
584
+ "parent_body": "robot0_right_hand"
585
+ }
586
+ },
587
+ "init_robot_base_pos": [
588
+ 0.9503392746681019,
589
+ -0.8258663219489386,
590
+ 0.0
591
+ ],
592
+ "init_robot_base_ori": [
593
+ 0.0,
594
+ 0.0,
595
+ 1.5707963267948966
596
+ ]
597
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000075/ep_meta.json ADDED
@@ -0,0 +1,516 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 37,
3
+ "style_id": 41,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_left_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ -0.003552272449672822,
37
+ 0.0200473733935803,
38
+ -0.02137208055047561
39
+ ],
40
+ "size": [
41
+ 0.5562461472479844,
42
+ 0.4275802516063978
43
+ ],
44
+ "height": 0.17941404040769782,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "lemon",
68
+ "vegetable",
69
+ "food",
70
+ "in_container",
71
+ "food_set1"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "lemon",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_left_group_1",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_left_group_1",
88
+ "min_size": [
89
+ 0.05351164464999999,
90
+ 0.05334858854999999,
91
+ 0.09602609119999998
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "shaker",
112
+ "condiment"
113
+ ],
114
+ "groups": [
115
+ "all"
116
+ ],
117
+ "cat": "shaker",
118
+ "split": "train",
119
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_0/model.xml"
120
+ },
121
+ "reset_region": {
122
+ "size": [
123
+ 1.0940063373000382,
124
+ 0.650008
125
+ ],
126
+ "offset": [
127
+ -0.8879153313499809,
128
+ -3.469446951953614e-17,
129
+ 0.46
130
+ ],
131
+ "name": "geom_0"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter_2",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_left_group_1",
139
+ "sample_region_kwargs": {
140
+ "ref": "oven_left_group_1",
141
+ "min_size": [
142
+ 0.2299862160999999,
143
+ 0.22998620229999986,
144
+ 0.11351701979999994
145
+ ]
146
+ },
147
+ "size": [
148
+ 1.0,
149
+ 0.5
150
+ ],
151
+ "pos": [
152
+ null,
153
+ -1.0
154
+ ],
155
+ "offset": [
156
+ 0.0,
157
+ 0.1
158
+ ]
159
+ },
160
+ "type": "object",
161
+ "info": {
162
+ "groups_containing_sampled_obj": [
163
+ "all",
164
+ "bowl",
165
+ "receptacle",
166
+ "stackable",
167
+ "group1",
168
+ "container_set2"
169
+ ],
170
+ "groups": [
171
+ "all"
172
+ ],
173
+ "cat": "bowl",
174
+ "split": "train",
175
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml"
176
+ },
177
+ "reset_region": {
178
+ "size": [
179
+ 1.0940063373000382,
180
+ 0.650008
181
+ ],
182
+ "offset": [
183
+ -0.8879153313499809,
184
+ -3.469446951953614e-17,
185
+ 0.46
186
+ ],
187
+ "name": "geom_0"
188
+ }
189
+ },
190
+ {
191
+ "name": "distr_counter_3",
192
+ "obj_groups": "all",
193
+ "placement": {
194
+ "fixture": "counter_1_left_group_1",
195
+ "sample_region_kwargs": {
196
+ "ref": "oven_left_group_1",
197
+ "min_size": [
198
+ 0.33763784999999996,
199
+ 0.1854666,
200
+ 0.159349092
201
+ ]
202
+ },
203
+ "size": [
204
+ 1.0,
205
+ 0.5
206
+ ],
207
+ "pos": [
208
+ null,
209
+ -1.0
210
+ ],
211
+ "offset": [
212
+ 0.0,
213
+ 0.1
214
+ ]
215
+ },
216
+ "type": "object",
217
+ "info": {
218
+ "groups_containing_sampled_obj": [
219
+ "all",
220
+ "basket",
221
+ "receptacle"
222
+ ],
223
+ "groups": [
224
+ "all"
225
+ ],
226
+ "cat": "basket",
227
+ "split": "train",
228
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket037/model.xml"
229
+ },
230
+ "reset_region": {
231
+ "size": [
232
+ 1.0940063373000382,
233
+ 0.650008
234
+ ],
235
+ "offset": [
236
+ -0.8879153313499809,
237
+ -3.469446951953614e-17,
238
+ 0.46
239
+ ],
240
+ "name": "geom_0"
241
+ }
242
+ }
243
+ ],
244
+ "fixtures": {
245
+ "wall_main_1_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_main_1_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_left_1_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_left_1_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_main_2_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_main_2_backing_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_main_3_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "wall_main_3_backing_room": {
267
+ "cls": "Wall"
268
+ },
269
+ "floor_1_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "floor_1_backing_room": {
273
+ "cls": "Floor"
274
+ },
275
+ "wallaccessory_1_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "wallaccessory_2_room": {
279
+ "cls": "WallAccessory"
280
+ },
281
+ "stool_1_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "stool_2_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stool_3_room": {
288
+ "cls": "Stool"
289
+ },
290
+ "stovetop_left_group_1": {
291
+ "cls": "Stovetop"
292
+ },
293
+ "counter_1_left_group_1": {
294
+ "cls": "Counter"
295
+ },
296
+ "hingecabinet_2_left_group_1": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "hingecabinet_1_left_group_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "microwave_left_group_1": {
303
+ "cls": "Microwave"
304
+ },
305
+ "cab_micro_left_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "cube_1_left_group_1": {
309
+ "cls": "Box"
310
+ },
311
+ "fridgefrenchdoor_left_group_1": {
312
+ "cls": "FridgeFrenchDoor"
313
+ },
314
+ "fridgefrenchdoor_housing_left_group_1": {
315
+ "cls": "HousingCabinet"
316
+ },
317
+ "bottom_left_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "bottom_left_group_1_1": {
321
+ "cls": "Drawer"
322
+ },
323
+ "oven_left_group_1": {
324
+ "cls": "Oven"
325
+ },
326
+ "oven_housing_left_group_1": {
327
+ "cls": "HousingCabinet"
328
+ },
329
+ "hingecabinet_3_left_group_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "microwave_cabinet_left_group_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "top_left_group_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_1_left_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_1_left_group_1_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_1_left_group_1_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_2_left_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_2_left_group_1_1": {
351
+ "cls": "Drawer"
352
+ },
353
+ "stack_2_left_group_1_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_2_left_group_1_3": {
357
+ "cls": "PanelCabinet"
358
+ },
359
+ "stack_3_left_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_3_left_group_1_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "stack_3_left_group_1_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "papertowel_left_group_1": {
369
+ "cls": "Accessory"
370
+ },
371
+ "coffee_machine_left_group_1": {
372
+ "cls": "CoffeeMachine"
373
+ },
374
+ "toaster_left_group_1": {
375
+ "cls": "Toaster"
376
+ },
377
+ "sink_island_group_1": {
378
+ "cls": "Sink"
379
+ },
380
+ "island_island_group_1": {
381
+ "cls": "Counter"
382
+ },
383
+ "cube_5_island_group_1": {
384
+ "cls": "Box"
385
+ },
386
+ "cube_1_island_group_1": {
387
+ "cls": "Box"
388
+ },
389
+ "cube_2_island_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "cube_3_island_group_1": {
393
+ "cls": "Box"
394
+ },
395
+ "cube_4_island_group_1": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_2_island_group_1_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_2_island_group_1_1": {
402
+ "cls": "SingleCabinet"
403
+ },
404
+ "stack_2_island_group_1_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_1_island_group_1_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_1_island_group_1_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "stack_1_island_group_1_2": {
414
+ "cls": "PanelCabinet"
415
+ },
416
+ "dishwasher_1_island_group_1": {
417
+ "cls": "Dishwasher"
418
+ }
419
+ },
420
+ "gen_textures": {},
421
+ "lang": "Close the oven door.",
422
+ "fixture_refs": {
423
+ "fxtr": "oven_left_group_1"
424
+ },
425
+ "cam_configs": {
426
+ "robot0_agentview_center": {
427
+ "pos": [
428
+ -0.6,
429
+ 0.0,
430
+ 1.15
431
+ ],
432
+ "quat": [
433
+ 0.636945903301239,
434
+ 0.3325185477733612,
435
+ -0.3199238181114197,
436
+ -0.6175596117973328
437
+ ],
438
+ "parent_body": "mobilebase0_support"
439
+ },
440
+ "robot0_agentview_left": {
441
+ "pos": [
442
+ -0.5,
443
+ 0.35,
444
+ 1.05
445
+ ],
446
+ "quat": [
447
+ 0.55623853,
448
+ 0.29935253,
449
+ -0.37678665,
450
+ -0.6775092
451
+ ],
452
+ "camera_attribs": {
453
+ "fovy": "60"
454
+ },
455
+ "parent_body": "mobilebase0_support"
456
+ },
457
+ "robot0_agentview_right": {
458
+ "pos": [
459
+ -0.5,
460
+ -0.35,
461
+ 1.05
462
+ ],
463
+ "quat": [
464
+ 0.6775091886520386,
465
+ 0.3767866790294647,
466
+ -0.2993525564670563,
467
+ -0.55623859167099
468
+ ],
469
+ "camera_attribs": {
470
+ "fovy": "60"
471
+ },
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_frontview": {
475
+ "pos": [
476
+ -0.5,
477
+ 0,
478
+ 0.95
479
+ ],
480
+ "quat": [
481
+ 0.6088936924934387,
482
+ 0.3814677894115448,
483
+ -0.3673907518386841,
484
+ -0.5905545353889465
485
+ ],
486
+ "camera_attribs": {
487
+ "fovy": "60"
488
+ },
489
+ "parent_body": "mobilebase0_support"
490
+ },
491
+ "robot0_eye_in_hand": {
492
+ "pos": [
493
+ 0.05,
494
+ 0,
495
+ 0
496
+ ],
497
+ "quat": [
498
+ 0,
499
+ 0.707107,
500
+ 0.707107,
501
+ 0
502
+ ],
503
+ "parent_body": "robot0_right_hand"
504
+ }
505
+ },
506
+ "init_robot_base_pos": [
507
+ 1.2391055380287395,
508
+ -3.6025092779575316,
509
+ 0.0
510
+ ],
511
+ "init_robot_base_ori": [
512
+ 0.0,
513
+ 0.0,
514
+ 3.1412906566438026
515
+ ]
516
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000076/ep_meta.json ADDED
@@ -0,0 +1,457 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 34,
3
+ "style_id": 11,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_left_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray007/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0014691511122125883,
37
+ -0.04690872130872517,
38
+ -0.04127909470065158
39
+ ],
40
+ "size": [
41
+ 0.47210640443202934,
42
+ 0.3564940691651378
43
+ ],
44
+ "height": 0.15978551137025446,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "eggplant",
68
+ "vegetable",
69
+ "food",
70
+ "in_container",
71
+ "oven_ready"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "eggplant",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_left_group_1",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_left_group_1",
88
+ "min_size": [
89
+ 0.005732,
90
+ 0.195316,
91
+ 0.005732
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "straw"
112
+ ],
113
+ "groups": [
114
+ "all"
115
+ ],
116
+ "cat": "straw",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw003/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "size": [
122
+ 1.1715220000000004,
123
+ 0.65
124
+ ],
125
+ "offset": [
126
+ 1.1362890000000003,
127
+ -3.469446951953614e-17,
128
+ 0.46
129
+ ],
130
+ "name": "geom_0"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter_2",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_1_left_group_1",
138
+ "sample_region_kwargs": {
139
+ "ref": "oven_left_group_1",
140
+ "min_size": [
141
+ 0.24681513780000008,
142
+ 0.3780000378000002,
143
+ 0.06985282374000001
144
+ ]
145
+ },
146
+ "size": [
147
+ 1.0,
148
+ 0.5
149
+ ],
150
+ "pos": [
151
+ null,
152
+ -1.0
153
+ ],
154
+ "offset": [
155
+ 0.0,
156
+ 0.1
157
+ ]
158
+ },
159
+ "type": "object",
160
+ "info": {
161
+ "groups_containing_sampled_obj": [
162
+ "all",
163
+ "tray",
164
+ "receptacle",
165
+ "oven_ready"
166
+ ],
167
+ "groups": [
168
+ "all"
169
+ ],
170
+ "cat": "tray",
171
+ "split": "train",
172
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml"
173
+ },
174
+ "reset_region": {
175
+ "size": [
176
+ 1.1715220000000004,
177
+ 0.65
178
+ ],
179
+ "offset": [
180
+ 1.1362890000000003,
181
+ -3.469446951953614e-17,
182
+ 0.46
183
+ ],
184
+ "name": "geom_0"
185
+ }
186
+ }
187
+ ],
188
+ "fixtures": {
189
+ "wall_main_1_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_1_backing_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_left_1_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_left_1_backing_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "floor_1_room": {
202
+ "cls": "Floor"
203
+ },
204
+ "floor_1_backing_room": {
205
+ "cls": "Floor"
206
+ },
207
+ "stool_2_room": {
208
+ "cls": "Stool"
209
+ },
210
+ "stool_3_room": {
211
+ "cls": "Stool"
212
+ },
213
+ "stool_4_room": {
214
+ "cls": "Stool"
215
+ },
216
+ "stool_1_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "stovetop_left_group_1": {
220
+ "cls": "Stovetop"
221
+ },
222
+ "counter_1_left_group_1": {
223
+ "cls": "Counter"
224
+ },
225
+ "hingecabinet_4_left_group_1": {
226
+ "cls": "HingeCabinet"
227
+ },
228
+ "hingecabinet_3_left_group_1": {
229
+ "cls": "HingeCabinet"
230
+ },
231
+ "hingecabinet_2_left_group_1": {
232
+ "cls": "HingeCabinet"
233
+ },
234
+ "singlecabinet_1_left_group_1": {
235
+ "cls": "SingleCabinet"
236
+ },
237
+ "bottom_left_group_1_base": {
238
+ "cls": "Box"
239
+ },
240
+ "bottom_left_group_1_1": {
241
+ "cls": "Drawer"
242
+ },
243
+ "oven_left_group_1": {
244
+ "cls": "Oven"
245
+ },
246
+ "microwave_left_group_1": {
247
+ "cls": "Microwave"
248
+ },
249
+ "fridgefrenchdoor_left_group_1": {
250
+ "cls": "FridgeFrenchDoor"
251
+ },
252
+ "fridgefrenchdoor_housing_left_group_1": {
253
+ "cls": "HousingCabinet"
254
+ },
255
+ "oven_housing_left_group_1": {
256
+ "cls": "HousingCabinet"
257
+ },
258
+ "hingecabinet_1_left_group_1": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "microwave_housing_left_group_1": {
262
+ "cls": "HousingCabinet"
263
+ },
264
+ "top_left_group_1": {
265
+ "cls": "HingeCabinet"
266
+ },
267
+ "stack_3_left_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_3_left_group_1_1": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_3_left_group_1_2": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_3_left_group_1_3": {
277
+ "cls": "PanelCabinet"
278
+ },
279
+ "stack_2_left_group_1_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_2_left_group_1_1": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_2_left_group_1_2": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_2_left_group_1_3": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_4_left_group_1_base": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_4_left_group_1_1": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_4_left_group_1_2": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_4_left_group_1_3": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_1_left_group_1_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_1_left_group_1_1": {
307
+ "cls": "SingleCabinet"
308
+ },
309
+ "coffee_machine_left_group_1": {
310
+ "cls": "CoffeeMachine"
311
+ },
312
+ "toaster_left_group_1": {
313
+ "cls": "Toaster"
314
+ },
315
+ "toaster_oven_left_group_1": {
316
+ "cls": "ToasterOven"
317
+ },
318
+ "sink_island_group_1": {
319
+ "cls": "Sink"
320
+ },
321
+ "island_island_group_1": {
322
+ "cls": "Counter"
323
+ },
324
+ "cube_1_island_group_1": {
325
+ "cls": "Box"
326
+ },
327
+ "cube_2_island_group_1": {
328
+ "cls": "Box"
329
+ },
330
+ "cube_3_island_group_1": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_2_island_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_2_island_group_1_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "stack_3_island_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_3_island_group_1_1": {
343
+ "cls": "SingleCabinet"
344
+ },
345
+ "stack_1_island_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_1_island_group_1_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "cube_4_island_group_1": {
352
+ "cls": "Box"
353
+ },
354
+ "dishwasher_1_island_group_1": {
355
+ "cls": "Dishwasher"
356
+ },
357
+ "paper_towel_island_group_1": {
358
+ "cls": "Accessory"
359
+ }
360
+ },
361
+ "gen_textures": {},
362
+ "lang": "Close the oven door.",
363
+ "fixture_refs": {
364
+ "fxtr": "oven_left_group_1"
365
+ },
366
+ "cam_configs": {
367
+ "robot0_agentview_center": {
368
+ "pos": [
369
+ -0.6,
370
+ 0.0,
371
+ 1.15
372
+ ],
373
+ "quat": [
374
+ 0.636945903301239,
375
+ 0.3325185477733612,
376
+ -0.3199238181114197,
377
+ -0.6175596117973328
378
+ ],
379
+ "parent_body": "mobilebase0_support"
380
+ },
381
+ "robot0_agentview_left": {
382
+ "pos": [
383
+ -0.5,
384
+ 0.35,
385
+ 1.05
386
+ ],
387
+ "quat": [
388
+ 0.55623853,
389
+ 0.29935253,
390
+ -0.37678665,
391
+ -0.6775092
392
+ ],
393
+ "camera_attribs": {
394
+ "fovy": "60"
395
+ },
396
+ "parent_body": "mobilebase0_support"
397
+ },
398
+ "robot0_agentview_right": {
399
+ "pos": [
400
+ -0.5,
401
+ -0.35,
402
+ 1.05
403
+ ],
404
+ "quat": [
405
+ 0.6775091886520386,
406
+ 0.3767866790294647,
407
+ -0.2993525564670563,
408
+ -0.55623859167099
409
+ ],
410
+ "camera_attribs": {
411
+ "fovy": "60"
412
+ },
413
+ "parent_body": "mobilebase0_support"
414
+ },
415
+ "robot0_frontview": {
416
+ "pos": [
417
+ -0.5,
418
+ 0,
419
+ 0.95
420
+ ],
421
+ "quat": [
422
+ 0.6088936924934387,
423
+ 0.3814677894115448,
424
+ -0.3673907518386841,
425
+ -0.5905545353889465
426
+ ],
427
+ "camera_attribs": {
428
+ "fovy": "60"
429
+ },
430
+ "parent_body": "mobilebase0_support"
431
+ },
432
+ "robot0_eye_in_hand": {
433
+ "pos": [
434
+ 0.05,
435
+ 0,
436
+ 0
437
+ ],
438
+ "quat": [
439
+ 0,
440
+ 0.707107,
441
+ 0.707107,
442
+ 0
443
+ ],
444
+ "parent_body": "robot0_right_hand"
445
+ }
446
+ },
447
+ "init_robot_base_pos": [
448
+ 1.1592421607004917,
449
+ -0.9947289651613094,
450
+ 0.0
451
+ ],
452
+ "init_robot_base_ori": [
453
+ 0.0,
454
+ 0.0,
455
+ 3.1412906566438026
456
+ ]
457
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000078/ep_meta.json ADDED
@@ -0,0 +1,677 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_main_group",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ -0.0006130230536490755,
37
+ -0.0013563273802693204,
38
+ -0.1270098929936964
39
+ ],
40
+ "size": [
41
+ 0.520350353324301,
42
+ 0.35040553570688304
43
+ ],
44
+ "height": 0.10692935595419578,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "tomato",
68
+ "vegetable",
69
+ "food",
70
+ "in_container"
71
+ ],
72
+ "groups": [
73
+ "all"
74
+ ],
75
+ "cat": "tomato",
76
+ "split": "train",
77
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml"
78
+ }
79
+ },
80
+ {
81
+ "name": "distr_counter_1",
82
+ "obj_groups": "all",
83
+ "placement": {
84
+ "fixture": "counter_1_main_group",
85
+ "sample_region_kwargs": {
86
+ "ref": "oven_main_group",
87
+ "min_size": [
88
+ 0.1305485,
89
+ 0.15809495,
90
+ 0.09527527
91
+ ]
92
+ },
93
+ "size": [
94
+ 1.0,
95
+ 0.5
96
+ ],
97
+ "pos": [
98
+ null,
99
+ -1.0
100
+ ],
101
+ "offset": [
102
+ 0.0,
103
+ 0.1
104
+ ]
105
+ },
106
+ "type": "object",
107
+ "info": {
108
+ "groups_containing_sampled_obj": [
109
+ "all",
110
+ "reamer",
111
+ "tool",
112
+ "in_container"
113
+ ],
114
+ "groups": [
115
+ "all"
116
+ ],
117
+ "cat": "reamer",
118
+ "split": "train",
119
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer007/model.xml"
120
+ },
121
+ "reset_region": {
122
+ "size": [
123
+ 2.8,
124
+ 0.65
125
+ ],
126
+ "offset": [
127
+ 0.0,
128
+ 0.0,
129
+ 0.46
130
+ ],
131
+ "name": "geom_0"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter_2",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_main_group",
139
+ "sample_region_kwargs": {
140
+ "ref": "oven_main_group",
141
+ "min_size": [
142
+ 0.062140701,
143
+ 0.035678601000000004,
144
+ 0.17351260500000001
145
+ ]
146
+ },
147
+ "size": [
148
+ 1.0,
149
+ 0.5
150
+ ],
151
+ "pos": [
152
+ null,
153
+ -1.0
154
+ ],
155
+ "offset": [
156
+ 0.0,
157
+ 0.1
158
+ ]
159
+ },
160
+ "type": "object",
161
+ "info": {
162
+ "groups_containing_sampled_obj": [
163
+ "all",
164
+ "honey_bottle",
165
+ "packaged_food"
166
+ ],
167
+ "groups": [
168
+ "all"
169
+ ],
170
+ "cat": "honey_bottle",
171
+ "split": "train",
172
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml"
173
+ },
174
+ "reset_region": {
175
+ "size": [
176
+ 2.8,
177
+ 0.65
178
+ ],
179
+ "offset": [
180
+ 0.0,
181
+ 0.0,
182
+ 0.46
183
+ ],
184
+ "name": "geom_0"
185
+ }
186
+ },
187
+ {
188
+ "name": "distr_counter_3",
189
+ "obj_groups": "all",
190
+ "placement": {
191
+ "fixture": "counter_1_main_group",
192
+ "sample_region_kwargs": {
193
+ "ref": "oven_main_group",
194
+ "min_size": [
195
+ 0.0536022,
196
+ 0.039448800000000006,
197
+ 0.0404028
198
+ ]
199
+ },
200
+ "size": [
201
+ 1.0,
202
+ 0.5
203
+ ],
204
+ "pos": [
205
+ null,
206
+ -1.0
207
+ ],
208
+ "offset": [
209
+ 0.0,
210
+ 0.1
211
+ ]
212
+ },
213
+ "type": "object",
214
+ "info": {
215
+ "groups_containing_sampled_obj": [
216
+ "all",
217
+ "marshmallow",
218
+ "sweets",
219
+ "food",
220
+ "in_container"
221
+ ],
222
+ "groups": [
223
+ "all"
224
+ ],
225
+ "cat": "marshmallow",
226
+ "split": "train",
227
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
228
+ },
229
+ "reset_region": {
230
+ "size": [
231
+ 2.8,
232
+ 0.65
233
+ ],
234
+ "offset": [
235
+ 0.0,
236
+ 0.0,
237
+ 0.46
238
+ ],
239
+ "name": "geom_0"
240
+ }
241
+ }
242
+ ],
243
+ "fixtures": {
244
+ "wall_main_1_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_main_1_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_left_4_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_left_4_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_right_1_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "wall_right_1_backing_room": {
260
+ "cls": "Wall"
261
+ },
262
+ "wall_left_1_room": {
263
+ "cls": "Wall"
264
+ },
265
+ "wall_left_1_backing_room": {
266
+ "cls": "Wall"
267
+ },
268
+ "wall_left_3_room": {
269
+ "cls": "Wall"
270
+ },
271
+ "wall_left_3_backing_room": {
272
+ "cls": "Wall"
273
+ },
274
+ "wall_left_2_room": {
275
+ "cls": "Wall"
276
+ },
277
+ "wall_left_2_backing_room": {
278
+ "cls": "Wall"
279
+ },
280
+ "wall_main_2_room": {
281
+ "cls": "Wall"
282
+ },
283
+ "wall_main_2_backing_room": {
284
+ "cls": "Wall"
285
+ },
286
+ "wall_front_1_room": {
287
+ "cls": "Wall"
288
+ },
289
+ "wall_front_1_backing_room": {
290
+ "cls": "Wall"
291
+ },
292
+ "floor_1_room": {
293
+ "cls": "Floor"
294
+ },
295
+ "floor_1_backing_room": {
296
+ "cls": "Floor"
297
+ },
298
+ "floor_2_room": {
299
+ "cls": "Floor"
300
+ },
301
+ "floor_2_backing_room": {
302
+ "cls": "Floor"
303
+ },
304
+ "light_switch_1_room": {
305
+ "cls": "WallAccessory"
306
+ },
307
+ "wall_accessory_1_room": {
308
+ "cls": "WallAccessory"
309
+ },
310
+ "light_switch_2_room": {
311
+ "cls": "WallAccessory"
312
+ },
313
+ "wall_accessory_2_room": {
314
+ "cls": "WallAccessory"
315
+ },
316
+ "stool_1_room": {
317
+ "cls": "Stool"
318
+ },
319
+ "stool_2_room": {
320
+ "cls": "Stool"
321
+ },
322
+ "stool_3_room": {
323
+ "cls": "Stool"
324
+ },
325
+ "stool_4_room": {
326
+ "cls": "Stool"
327
+ },
328
+ "bottom_main_group_base": {
329
+ "cls": "Box"
330
+ },
331
+ "bottom_main_group_1": {
332
+ "cls": "Drawer"
333
+ },
334
+ "oven_main_group": {
335
+ "cls": "Oven"
336
+ },
337
+ "oven_housing_main_group": {
338
+ "cls": "HousingCabinet"
339
+ },
340
+ "microwave_main_group": {
341
+ "cls": "Microwave"
342
+ },
343
+ "microwave_housing_main_group": {
344
+ "cls": "HousingCabinet"
345
+ },
346
+ "middle_main_group": {
347
+ "cls": "HingeCabinet"
348
+ },
349
+ "top_main_group": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "fridge_main_group": {
353
+ "cls": "FridgeSideBySide"
354
+ },
355
+ "fridge_housing_main_group": {
356
+ "cls": "HousingCabinet"
357
+ },
358
+ "counter_1_main_group": {
359
+ "cls": "Counter"
360
+ },
361
+ "stack_1_main_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_main_group_1": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_1_main_group_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_1_main_group_3": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_2_main_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_2_main_group_1": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_2_main_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_2_main_group_3": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_3_main_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_3_main_group_1": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_3_main_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_3_main_group_3": {
395
+ "cls": "Drawer"
396
+ },
397
+ "dishwasher_main_group": {
398
+ "cls": "Dishwasher"
399
+ },
400
+ "panel_stack_main_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "panel_stack_main_group_1": {
404
+ "cls": "PanelCabinet"
405
+ },
406
+ "cab_1_main_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_2_main_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "cab_3_main_group": {
413
+ "cls": "HingeCabinet"
414
+ },
415
+ "cab_4_main_group": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "cab_5_main_group": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "cab_6_main_group": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "toaster_oven_main_group": {
425
+ "cls": "ToasterOven"
426
+ },
427
+ "paper_towel_main_group": {
428
+ "cls": "Accessory"
429
+ },
430
+ "stovetop_left_group": {
431
+ "cls": "Stovetop"
432
+ },
433
+ "counter_1_left_group": {
434
+ "cls": "Counter"
435
+ },
436
+ "stack_1_left_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_1_left_group_1": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_1_left_group_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_1_left_group_3": {
446
+ "cls": "Drawer"
447
+ },
448
+ "stack_2_left_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_2_left_group_1": {
452
+ "cls": "Drawer"
453
+ },
454
+ "stack_2_left_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_2_left_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_3_left_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_3_left_group_1": {
464
+ "cls": "Drawer"
465
+ },
466
+ "stack_3_left_group_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_3_left_group_3": {
470
+ "cls": "PanelCabinet"
471
+ },
472
+ "stack_4_left_group_base": {
473
+ "cls": "Box"
474
+ },
475
+ "stack_4_left_group_1": {
476
+ "cls": "Drawer"
477
+ },
478
+ "stack_4_left_group_2": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_4_left_group_3": {
482
+ "cls": "Drawer"
483
+ },
484
+ "stack_5_left_group_base": {
485
+ "cls": "Box"
486
+ },
487
+ "stack_5_left_group_1": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_5_left_group_2": {
491
+ "cls": "Drawer"
492
+ },
493
+ "stack_5_left_group_3": {
494
+ "cls": "Drawer"
495
+ },
496
+ "hood_left_group": {
497
+ "cls": "Hood"
498
+ },
499
+ "cab_1_left_group": {
500
+ "cls": "HingeCabinet"
501
+ },
502
+ "cab_2_left_group": {
503
+ "cls": "HingeCabinet"
504
+ },
505
+ "cab_3_left_group": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "cab_4_left_group": {
509
+ "cls": "HingeCabinet"
510
+ },
511
+ "coffee_machine_left_group": {
512
+ "cls": "CoffeeMachine"
513
+ },
514
+ "toaster_left_group": {
515
+ "cls": "Toaster"
516
+ },
517
+ "sink_island_group": {
518
+ "cls": "Sink"
519
+ },
520
+ "island_island_group": {
521
+ "cls": "Counter"
522
+ },
523
+ "panel_box_1_island_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "panel_box_1_island_group_1": {
527
+ "cls": "PanelCabinet"
528
+ },
529
+ "stack_1_island_group_base": {
530
+ "cls": "Box"
531
+ },
532
+ "stack_1_island_group_1": {
533
+ "cls": "Drawer"
534
+ },
535
+ "stack_1_island_group_2": {
536
+ "cls": "Drawer"
537
+ },
538
+ "stack_1_island_group_3": {
539
+ "cls": "Drawer"
540
+ },
541
+ "stack_2_island_group_base": {
542
+ "cls": "Box"
543
+ },
544
+ "stack_2_island_group_1": {
545
+ "cls": "SingleCabinet"
546
+ },
547
+ "stack_3_island_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "stack_3_island_group_1": {
551
+ "cls": "HingeCabinet"
552
+ },
553
+ "stack_4_island_group_base": {
554
+ "cls": "Box"
555
+ },
556
+ "stack_4_island_group_1": {
557
+ "cls": "SingleCabinet"
558
+ },
559
+ "stack_5_island_group_base": {
560
+ "cls": "Box"
561
+ },
562
+ "stack_5_island_group_1": {
563
+ "cls": "Drawer"
564
+ },
565
+ "stack_5_island_group_2": {
566
+ "cls": "Drawer"
567
+ },
568
+ "stack_5_island_group_3": {
569
+ "cls": "Drawer"
570
+ },
571
+ "panel_cab_2_island_group_base": {
572
+ "cls": "Box"
573
+ },
574
+ "panel_cab_2_island_group_1": {
575
+ "cls": "PanelCabinet"
576
+ },
577
+ "box_island_group": {
578
+ "cls": "Box"
579
+ }
580
+ },
581
+ "gen_textures": {},
582
+ "lang": "Close the oven door.",
583
+ "fixture_refs": {
584
+ "fxtr": "oven_main_group"
585
+ },
586
+ "cam_configs": {
587
+ "robot0_agentview_center": {
588
+ "pos": [
589
+ -0.6,
590
+ 0.0,
591
+ 1.15
592
+ ],
593
+ "quat": [
594
+ 0.636945903301239,
595
+ 0.3325185477733612,
596
+ -0.3199238181114197,
597
+ -0.6175596117973328
598
+ ],
599
+ "parent_body": "mobilebase0_support"
600
+ },
601
+ "robot0_agentview_left": {
602
+ "pos": [
603
+ -0.5,
604
+ 0.35,
605
+ 1.05
606
+ ],
607
+ "quat": [
608
+ 0.55623853,
609
+ 0.29935253,
610
+ -0.37678665,
611
+ -0.6775092
612
+ ],
613
+ "camera_attribs": {
614
+ "fovy": "60"
615
+ },
616
+ "parent_body": "mobilebase0_support"
617
+ },
618
+ "robot0_agentview_right": {
619
+ "pos": [
620
+ -0.5,
621
+ -0.35,
622
+ 1.05
623
+ ],
624
+ "quat": [
625
+ 0.6775091886520386,
626
+ 0.3767866790294647,
627
+ -0.2993525564670563,
628
+ -0.55623859167099
629
+ ],
630
+ "camera_attribs": {
631
+ "fovy": "60"
632
+ },
633
+ "parent_body": "mobilebase0_support"
634
+ },
635
+ "robot0_frontview": {
636
+ "pos": [
637
+ -0.5,
638
+ 0,
639
+ 0.95
640
+ ],
641
+ "quat": [
642
+ 0.6088936924934387,
643
+ 0.3814677894115448,
644
+ -0.3673907518386841,
645
+ -0.5905545353889465
646
+ ],
647
+ "camera_attribs": {
648
+ "fovy": "60"
649
+ },
650
+ "parent_body": "mobilebase0_support"
651
+ },
652
+ "robot0_eye_in_hand": {
653
+ "pos": [
654
+ 0.05,
655
+ 0,
656
+ 0
657
+ ],
658
+ "quat": [
659
+ 0,
660
+ 0.707107,
661
+ 0.707107,
662
+ 0
663
+ ],
664
+ "parent_body": "robot0_right_hand"
665
+ }
666
+ },
667
+ "init_robot_base_pos": [
668
+ 0.9766852465285975,
669
+ -1.307831243958502,
670
+ 0.0
671
+ ],
672
+ "init_robot_base_ori": [
673
+ 0.0,
674
+ 0.0,
675
+ 1.5707963267948966
676
+ ]
677
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000079/ep_meta.json ADDED
@@ -0,0 +1,583 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 56,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_left_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0017796784952502087,
37
+ 0.04094524423522826,
38
+ -0.15461829639471378
39
+ ],
40
+ "size": [
41
+ 0.5200220865449521,
42
+ 0.48788264814547067
43
+ ],
44
+ "height": 0.14877068113599318,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "lemon",
68
+ "vegetable",
69
+ "food",
70
+ "in_container",
71
+ "food_set1"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "lemon",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_left_group_1",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_left_group_1",
88
+ "min_size": [
89
+ 0.049847499999999996,
90
+ 0.049845,
91
+ 0.049847499999999996
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "ice_cube",
112
+ "iced_item",
113
+ "in_container"
114
+ ],
115
+ "groups": [
116
+ "all"
117
+ ],
118
+ "cat": "ice_cube",
119
+ "split": "train",
120
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube001/model.xml"
121
+ },
122
+ "reset_region": {
123
+ "size": [
124
+ 0.9618321819379025,
125
+ 0.65
126
+ ],
127
+ "offset": [
128
+ -0.8990839090310486,
129
+ -3.469446951953614e-17,
130
+ 0.46
131
+ ],
132
+ "name": "geom_0"
133
+ }
134
+ },
135
+ {
136
+ "name": "distr_counter_2",
137
+ "obj_groups": "all",
138
+ "placement": {
139
+ "fixture": "counter_1_left_group_1",
140
+ "sample_region_kwargs": {
141
+ "ref": "oven_left_group_1",
142
+ "min_size": [
143
+ 0.08606748149999999,
144
+ 0.08602075125,
145
+ 0.027686259999999997
146
+ ]
147
+ },
148
+ "size": [
149
+ 1.0,
150
+ 0.5
151
+ ],
152
+ "pos": [
153
+ null,
154
+ -1.0
155
+ ],
156
+ "offset": [
157
+ 0.0,
158
+ 0.1
159
+ ]
160
+ },
161
+ "type": "object",
162
+ "info": {
163
+ "groups_containing_sampled_obj": [
164
+ "all",
165
+ "bread_flat",
166
+ "bread_food",
167
+ "food",
168
+ "in_container"
169
+ ],
170
+ "groups": [
171
+ "all"
172
+ ],
173
+ "cat": "bread_flat",
174
+ "split": "train",
175
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml"
176
+ },
177
+ "reset_region": {
178
+ "size": [
179
+ 0.9618321819379025,
180
+ 0.65
181
+ ],
182
+ "offset": [
183
+ -0.8990839090310486,
184
+ -3.469446951953614e-17,
185
+ 0.46
186
+ ],
187
+ "name": "geom_0"
188
+ }
189
+ }
190
+ ],
191
+ "fixtures": {
192
+ "wall_left_1_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_left_1_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_main_1_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_main_1_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_right_1_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_right_1_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_2_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_2_backing_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_2_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_2_backing_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_main_3_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_main_3_backing_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "floor_1_room": {
229
+ "cls": "Floor"
230
+ },
231
+ "floor_1_backing_room": {
232
+ "cls": "Floor"
233
+ },
234
+ "wallaccessory_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "wallaccessory.002_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "wallaccessory.003_room": {
241
+ "cls": "WallAccessory"
242
+ },
243
+ "stool_3_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "stool_2_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_1_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "counter_1_main_group_1": {
253
+ "cls": "Counter"
254
+ },
255
+ "counter_corner_1_main_group_1": {
256
+ "cls": "Counter"
257
+ },
258
+ "hingecabinet_1_main_group_1": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "box_1_main_group_1": {
262
+ "cls": "Box"
263
+ },
264
+ "hingecabinet_2_main_group_1": {
265
+ "cls": "HingeCabinet"
266
+ },
267
+ "stack_1_main_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_1_main_group_1_1": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_1_main_group_1_2": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_1_main_group_1_3": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_2_main_group_1_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_2_main_group_1_1": {
283
+ "cls": "SingleCabinet"
284
+ },
285
+ "fridgefrenchdoor_main_group_1": {
286
+ "cls": "FridgeFrenchDoor"
287
+ },
288
+ "fridgefrenchdoor_housing_main_group_1": {
289
+ "cls": "HousingCabinet"
290
+ },
291
+ "knifeblock_main_group_1": {
292
+ "cls": "Accessory"
293
+ },
294
+ "paper_towel_main_group_1": {
295
+ "cls": "Accessory"
296
+ },
297
+ "toaster_main_group_1": {
298
+ "cls": "Toaster"
299
+ },
300
+ "sink_right_group_1": {
301
+ "cls": "Sink"
302
+ },
303
+ "counter_1_right_group_1": {
304
+ "cls": "Counter"
305
+ },
306
+ "counter_2_right_group_1": {
307
+ "cls": "Counter"
308
+ },
309
+ "singlecabinet_1_right_group_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "cube_2_right_group_1": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_3_right_group_1_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_3_right_group_1_1": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_3_right_group_1_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_3_right_group_1_3": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_1_right_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_1_right_group_1_1": {
331
+ "cls": "SingleCabinet"
332
+ },
333
+ "cube_1_right_group_1": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_2_right_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_2_right_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_2_right_group_1_2": {
343
+ "cls": "PanelCabinet"
344
+ },
345
+ "dishwasher_1_right_group_1": {
346
+ "cls": "Dishwasher"
347
+ },
348
+ "cube_3_right_group_1": {
349
+ "cls": "Box"
350
+ },
351
+ "stovetop_left_group_1": {
352
+ "cls": "Stovetop"
353
+ },
354
+ "counter_1_left_group_1": {
355
+ "cls": "Counter"
356
+ },
357
+ "hingecabinet_3_left_group_1": {
358
+ "cls": "HingeCabinet"
359
+ },
360
+ "hingecabinet_2_left_group_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "hingecabinet_1_left_group_1": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "bottom_left_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "bottom_left_group_1_1": {
370
+ "cls": "Drawer"
371
+ },
372
+ "oven_left_group_1": {
373
+ "cls": "Oven"
374
+ },
375
+ "oven_housing_left_group_1": {
376
+ "cls": "HousingCabinet"
377
+ },
378
+ "microwave_left_group_1": {
379
+ "cls": "Microwave"
380
+ },
381
+ "microwave_housing_left_group_1": {
382
+ "cls": "HousingCabinet"
383
+ },
384
+ "top_left_group_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "stack_1_left_group_1_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_1_left_group_1_1": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "stack_1_left_group_1_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_2_left_group_1_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_2_left_group_1_1": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "stack_2_left_group_1_2": {
403
+ "cls": "PanelCabinet"
404
+ },
405
+ "stack_3_left_group_1_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_3_left_group_1_1": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "stack_3_left_group_1_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "coffeemachine_left_group_1": {
415
+ "cls": "CoffeeMachine"
416
+ },
417
+ "toaster_oven_left_group_1": {
418
+ "cls": "ToasterOven"
419
+ },
420
+ "counter_1_island_group": {
421
+ "cls": "Counter"
422
+ },
423
+ "stack_2_island_group_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_2_island_group_1": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_2_island_group_2": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_1_island_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_1_island_group_1": {
436
+ "cls": "SingleCabinet"
437
+ },
438
+ "stack_3_island_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_3_island_group_1": {
442
+ "cls": "SingleCabinet"
443
+ },
444
+ "plant_island_group": {
445
+ "cls": "Accessory"
446
+ },
447
+ "stack_2_dining_area_group_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_2_dining_area_group_1": {
451
+ "cls": "HingeCabinet"
452
+ },
453
+ "stack_2_dining_area_group_2": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_4_dining_area_group_base": {
457
+ "cls": "Box"
458
+ },
459
+ "stack_4_dining_area_group_1": {
460
+ "cls": "SingleCabinet"
461
+ },
462
+ "stack_1_dining_area_group_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_1_dining_area_group_1": {
466
+ "cls": "SingleCabinet"
467
+ },
468
+ "stack_3_dining_area_group_base": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_3_dining_area_group_1": {
472
+ "cls": "HingeCabinet"
473
+ },
474
+ "stack_3_dining_area_group_2": {
475
+ "cls": "Drawer"
476
+ },
477
+ "stool_3_stool_group_1": {
478
+ "cls": "Stool"
479
+ },
480
+ "stool_2_stool_group_1": {
481
+ "cls": "Stool"
482
+ },
483
+ "stool_1_stool_group_1": {
484
+ "cls": "Stool"
485
+ }
486
+ },
487
+ "gen_textures": {},
488
+ "lang": "Close the oven door.",
489
+ "fixture_refs": {
490
+ "fxtr": "oven_left_group_1"
491
+ },
492
+ "cam_configs": {
493
+ "robot0_agentview_center": {
494
+ "pos": [
495
+ -0.6,
496
+ 0.0,
497
+ 1.15
498
+ ],
499
+ "quat": [
500
+ 0.636945903301239,
501
+ 0.3325185477733612,
502
+ -0.3199238181114197,
503
+ -0.6175596117973328
504
+ ],
505
+ "parent_body": "mobilebase0_support"
506
+ },
507
+ "robot0_agentview_left": {
508
+ "pos": [
509
+ -0.5,
510
+ 0.35,
511
+ 1.05
512
+ ],
513
+ "quat": [
514
+ 0.55623853,
515
+ 0.29935253,
516
+ -0.37678665,
517
+ -0.6775092
518
+ ],
519
+ "camera_attribs": {
520
+ "fovy": "60"
521
+ },
522
+ "parent_body": "mobilebase0_support"
523
+ },
524
+ "robot0_agentview_right": {
525
+ "pos": [
526
+ -0.5,
527
+ -0.35,
528
+ 1.05
529
+ ],
530
+ "quat": [
531
+ 0.6775091886520386,
532
+ 0.3767866790294647,
533
+ -0.2993525564670563,
534
+ -0.55623859167099
535
+ ],
536
+ "camera_attribs": {
537
+ "fovy": "60"
538
+ },
539
+ "parent_body": "mobilebase0_support"
540
+ },
541
+ "robot0_frontview": {
542
+ "pos": [
543
+ -0.5,
544
+ 0,
545
+ 0.95
546
+ ],
547
+ "quat": [
548
+ 0.6088936924934387,
549
+ 0.3814677894115448,
550
+ -0.3673907518386841,
551
+ -0.5905545353889465
552
+ ],
553
+ "camera_attribs": {
554
+ "fovy": "60"
555
+ },
556
+ "parent_body": "mobilebase0_support"
557
+ },
558
+ "robot0_eye_in_hand": {
559
+ "pos": [
560
+ 0.05,
561
+ 0,
562
+ 0
563
+ ],
564
+ "quat": [
565
+ 0,
566
+ 0.707107,
567
+ 0.707107,
568
+ 0
569
+ ],
570
+ "parent_body": "robot0_right_hand"
571
+ }
572
+ },
573
+ "init_robot_base_pos": [
574
+ 1.209119243557671,
575
+ -3.7229649145873154,
576
+ 0.0
577
+ ],
578
+ "init_robot_base_ori": [
579
+ 0.0,
580
+ 0.0,
581
+ 3.1415924507432367
582
+ ]
583
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000084/ep_meta.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 39,
3
+ "style_id": 41,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_front_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ -0.003552272449672822,
37
+ 0.0200473733935803,
38
+ -0.02137208055047561
39
+ ],
40
+ "size": [
41
+ 0.5562461472479844,
42
+ 0.4275802516063978
43
+ ],
44
+ "height": 0.17941404040769782,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "aluminum_foil",
68
+ "tool",
69
+ "in_container"
70
+ ],
71
+ "groups": [
72
+ "all"
73
+ ],
74
+ "cat": "aluminum_foil",
75
+ "split": "train",
76
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil001/model.xml"
77
+ }
78
+ },
79
+ {
80
+ "name": "distr_counter_1",
81
+ "obj_groups": "all",
82
+ "placement": {
83
+ "fixture": "counter_1_front_group_1",
84
+ "sample_region_kwargs": {
85
+ "ref": "oven_front_group_1",
86
+ "min_size": [
87
+ 0.160447714,
88
+ 0.305947362,
89
+ 0.07355168799999999
90
+ ]
91
+ },
92
+ "size": [
93
+ 1.0,
94
+ 0.5
95
+ ],
96
+ "pos": [
97
+ null,
98
+ -1.0
99
+ ],
100
+ "offset": [
101
+ 0.0,
102
+ 0.1
103
+ ]
104
+ },
105
+ "type": "object",
106
+ "info": {
107
+ "groups_containing_sampled_obj": [
108
+ "all",
109
+ "strainer",
110
+ "tool",
111
+ "receptacle",
112
+ "in_container"
113
+ ],
114
+ "groups": [
115
+ "all"
116
+ ],
117
+ "cat": "strainer",
118
+ "split": "train",
119
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/strainer/Strainer005/model.xml"
120
+ },
121
+ "reset_region": {
122
+ "size": [
123
+ 3.25,
124
+ 0.65
125
+ ],
126
+ "offset": [
127
+ 0.0,
128
+ 0.0,
129
+ 0.46
130
+ ],
131
+ "name": "geom_0"
132
+ }
133
+ }
134
+ ],
135
+ "fixtures": {
136
+ "wall_main_1_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_main_1_backing_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "wall_right_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_right_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_2_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_2_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_2_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_2_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_front_1_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_front_1_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_front_5_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_front_5_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_right_5_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_5_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_front_4_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_front_4_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_4_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_4_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_front_3_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_front_3_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_front_2_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_front_2_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_front_6_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_front_6_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_front_7_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_front_7_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "floor_1_room": {
221
+ "cls": "Floor"
222
+ },
223
+ "floor_1_backing_room": {
224
+ "cls": "Floor"
225
+ },
226
+ "floor_2_room": {
227
+ "cls": "Floor"
228
+ },
229
+ "floor_2_backing_room": {
230
+ "cls": "Floor"
231
+ },
232
+ "floor_3_room": {
233
+ "cls": "Floor"
234
+ },
235
+ "floor_3_backing_room": {
236
+ "cls": "Floor"
237
+ },
238
+ "wallaccessory_2_room": {
239
+ "cls": "WallAccessory"
240
+ },
241
+ "wallaccessory_1_room": {
242
+ "cls": "WallAccessory"
243
+ },
244
+ "wallaccessory_4_room": {
245
+ "cls": "WallAccessory"
246
+ },
247
+ "wallaccessory_3_room": {
248
+ "cls": "WallAccessory"
249
+ },
250
+ "lightswitch_room": {
251
+ "cls": "WallAccessory"
252
+ },
253
+ "wallaccessory_5_room": {
254
+ "cls": "WallAccessory"
255
+ },
256
+ "wallaccessory_6.001_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "window_group_room": {
260
+ "cls": "Window"
261
+ },
262
+ "sink_main_group_1": {
263
+ "cls": "Sink"
264
+ },
265
+ "counter_1_main_group_1": {
266
+ "cls": "Counter"
267
+ },
268
+ "fridgefrenchdoor_main_group_1": {
269
+ "cls": "FridgeFrenchDoor"
270
+ },
271
+ "fridgefrenchdoor_housing_main_group_1": {
272
+ "cls": "HousingCabinet"
273
+ },
274
+ "hingecabinet_1_main_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "singlecabinet_5_main_group_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "singlecabinet_4_main_group_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "singlecabinet_1_main_group_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "singlecabinet_2_main_group_1": {
287
+ "cls": "SingleCabinet"
288
+ },
289
+ "singlecabinet_3_main_group_1": {
290
+ "cls": "SingleCabinet"
291
+ },
292
+ "stack_1_main_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_1_main_group_1_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "stack_1_main_group_1_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_2_main_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_2_main_group_1_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "stack_2_main_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_3_main_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_3_main_group_1_1": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_3_main_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_3_main_group_1_3": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_4_main_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_4_main_group_1_1": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "stack_4_main_group_1_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "cube_1_main_group_1": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_5_main_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_5_main_group_1_1": {
338
+ "cls": "SingleCabinet"
339
+ },
340
+ "stack_5_main_group_1_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_6_main_group_1_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_6_main_group_1_1": {
347
+ "cls": "SingleCabinet"
348
+ },
349
+ "stack_6_main_group_1_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_7_main_group_1_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_7_main_group_1_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_7_main_group_1_2": {
359
+ "cls": "PanelCabinet"
360
+ },
361
+ "dishwasher_1_main_group_1": {
362
+ "cls": "Dishwasher"
363
+ },
364
+ "toaster_main_group_1": {
365
+ "cls": "Toaster"
366
+ },
367
+ "knifeblock_main_group_1": {
368
+ "cls": "Accessory"
369
+ },
370
+ "papertowel_main_group_1": {
371
+ "cls": "Accessory"
372
+ },
373
+ "stovetop_island_group_1": {
374
+ "cls": "Stovetop"
375
+ },
376
+ "island_island_group_1": {
377
+ "cls": "Counter"
378
+ },
379
+ "stack_1_island_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_1_island_group_1_1": {
383
+ "cls": "SingleCabinet"
384
+ },
385
+ "stack_1_island_group_1_2": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_2_island_group_1_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_2_island_group_1_1": {
392
+ "cls": "SingleCabinet"
393
+ },
394
+ "stack_2_island_group_1_2": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_3_island_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_3_island_group_1_1": {
401
+ "cls": "SingleCabinet"
402
+ },
403
+ "stack_3_island_group_1_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_4_island_group_1_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_4_island_group_1_1": {
410
+ "cls": "SingleCabinet"
411
+ },
412
+ "stack_4_island_group_1_2": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_5_island_group_2.001_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_5_island_group_2.001_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_5_island_group_2.001_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_6_island_group_2.001_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_6_island_group_2.001_1": {
428
+ "cls": "SingleCabinet"
429
+ },
430
+ "stack_6_island_group_2.001_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_7_island_group_2.001_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_7_island_group_2.001_1": {
437
+ "cls": "SingleCabinet"
438
+ },
439
+ "stack_7_island_group_2.001_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_8_island_group_2.001_base": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_8_island_group_2.001_1": {
446
+ "cls": "SingleCabinet"
447
+ },
448
+ "stack_8_island_group_2.001_2": {
449
+ "cls": "Drawer"
450
+ },
451
+ "counter_1_front_group_1": {
452
+ "cls": "Counter"
453
+ },
454
+ "hingecabinet_2_front_group_1": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "hingecabinet_1_front_group_1": {
458
+ "cls": "HingeCabinet"
459
+ },
460
+ "stack_1_front_group_1_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_1_front_group_1_1": {
464
+ "cls": "SingleCabinet"
465
+ },
466
+ "stack_1_front_group_1_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_2_front_group_1_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_2_front_group_1_1": {
473
+ "cls": "SingleCabinet"
474
+ },
475
+ "stack_2_front_group_1_2": {
476
+ "cls": "Drawer"
477
+ },
478
+ "stack_3_front_group_1_base": {
479
+ "cls": "Box"
480
+ },
481
+ "stack_3_front_group_1_1": {
482
+ "cls": "SingleCabinet"
483
+ },
484
+ "stack_3_front_group_1_2": {
485
+ "cls": "Drawer"
486
+ },
487
+ "stack_4_front_group_1_base": {
488
+ "cls": "Box"
489
+ },
490
+ "stack_4_front_group_1_1": {
491
+ "cls": "SingleCabinet"
492
+ },
493
+ "stack_4_front_group_1_2": {
494
+ "cls": "Drawer"
495
+ },
496
+ "stack_5_front_group_1_base": {
497
+ "cls": "Box"
498
+ },
499
+ "stack_5_front_group_1_1": {
500
+ "cls": "Drawer"
501
+ },
502
+ "stack_5_front_group_1_2": {
503
+ "cls": "Drawer"
504
+ },
505
+ "stack_5_front_group_1_3": {
506
+ "cls": "Drawer"
507
+ },
508
+ "bottom_front_group_1_base": {
509
+ "cls": "Box"
510
+ },
511
+ "bottom_front_group_1_1": {
512
+ "cls": "Drawer"
513
+ },
514
+ "oven_front_group_1": {
515
+ "cls": "Oven"
516
+ },
517
+ "oven_housing_front_group_1": {
518
+ "cls": "HousingCabinet"
519
+ },
520
+ "microwave_front_group_1": {
521
+ "cls": "Microwave"
522
+ },
523
+ "microwave_housing_front_group_1": {
524
+ "cls": "HousingCabinet"
525
+ },
526
+ "top_front_group_1": {
527
+ "cls": "HingeCabinet"
528
+ },
529
+ "coffeemachine_front_group_1": {
530
+ "cls": "CoffeeMachine"
531
+ },
532
+ "toaster_oven_front_group_1": {
533
+ "cls": "ToasterOven"
534
+ }
535
+ },
536
+ "gen_textures": {},
537
+ "lang": "Close the oven door.",
538
+ "fixture_refs": {
539
+ "fxtr": "oven_front_group_1"
540
+ },
541
+ "cam_configs": {
542
+ "robot0_agentview_center": {
543
+ "pos": [
544
+ -0.6,
545
+ 0.0,
546
+ 1.15
547
+ ],
548
+ "quat": [
549
+ 0.636945903301239,
550
+ 0.3325185477733612,
551
+ -0.3199238181114197,
552
+ -0.6175596117973328
553
+ ],
554
+ "parent_body": "mobilebase0_support"
555
+ },
556
+ "robot0_agentview_left": {
557
+ "pos": [
558
+ -0.5,
559
+ 0.35,
560
+ 1.05
561
+ ],
562
+ "quat": [
563
+ 0.55623853,
564
+ 0.29935253,
565
+ -0.37678665,
566
+ -0.6775092
567
+ ],
568
+ "camera_attribs": {
569
+ "fovy": "60"
570
+ },
571
+ "parent_body": "mobilebase0_support"
572
+ },
573
+ "robot0_agentview_right": {
574
+ "pos": [
575
+ -0.5,
576
+ -0.35,
577
+ 1.05
578
+ ],
579
+ "quat": [
580
+ 0.6775091886520386,
581
+ 0.3767866790294647,
582
+ -0.2993525564670563,
583
+ -0.55623859167099
584
+ ],
585
+ "camera_attribs": {
586
+ "fovy": "60"
587
+ },
588
+ "parent_body": "mobilebase0_support"
589
+ },
590
+ "robot0_frontview": {
591
+ "pos": [
592
+ -0.5,
593
+ 0,
594
+ 0.95
595
+ ],
596
+ "quat": [
597
+ 0.6088936924934387,
598
+ 0.3814677894115448,
599
+ -0.3673907518386841,
600
+ -0.5905545353889465
601
+ ],
602
+ "camera_attribs": {
603
+ "fovy": "60"
604
+ },
605
+ "parent_body": "mobilebase0_support"
606
+ },
607
+ "robot0_eye_in_hand": {
608
+ "pos": [
609
+ 0.05,
610
+ 0,
611
+ 0
612
+ ],
613
+ "quat": [
614
+ 0,
615
+ 0.707107,
616
+ 0.707107,
617
+ 0
618
+ ],
619
+ "parent_body": "robot0_right_hand"
620
+ }
621
+ },
622
+ "init_robot_base_pos": [
623
+ 3.1162822041141944,
624
+ -5.103046539313632,
625
+ 0.0
626
+ ],
627
+ "init_robot_base_ori": [
628
+ 0.0,
629
+ 0.0,
630
+ -1.57079623937212
631
+ ]
632
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000087/ep_meta.json ADDED
@@ -0,0 +1,677 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 47,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_main_group",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray003/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ -0.00014228432647185596,
37
+ -0.009894893645869374,
38
+ -0.12953017493898192
39
+ ],
40
+ "size": [
41
+ 0.46209971028309305,
42
+ 0.4303728950008991
43
+ ],
44
+ "height": 0.13071999431359174,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "fish",
68
+ "meat",
69
+ "food",
70
+ "in_container",
71
+ "oven_ready"
72
+ ],
73
+ "groups": [
74
+ "all"
75
+ ],
76
+ "cat": "fish",
77
+ "split": "train",
78
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml"
79
+ }
80
+ },
81
+ {
82
+ "name": "distr_counter_1",
83
+ "obj_groups": "all",
84
+ "placement": {
85
+ "fixture": "counter_1_main_group",
86
+ "sample_region_kwargs": {
87
+ "ref": "oven_main_group",
88
+ "min_size": [
89
+ 0.33879215,
90
+ 0.22634479999999996,
91
+ 0.1435069535
92
+ ]
93
+ },
94
+ "size": [
95
+ 1.0,
96
+ 0.5
97
+ ],
98
+ "pos": [
99
+ null,
100
+ -1.0
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.1
105
+ ]
106
+ },
107
+ "type": "object",
108
+ "info": {
109
+ "groups_containing_sampled_obj": [
110
+ "all",
111
+ "basket",
112
+ "receptacle"
113
+ ],
114
+ "groups": [
115
+ "all"
116
+ ],
117
+ "cat": "basket",
118
+ "split": "train",
119
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket036/model.xml"
120
+ },
121
+ "reset_region": {
122
+ "size": [
123
+ 2.8,
124
+ 0.65
125
+ ],
126
+ "offset": [
127
+ 0.0,
128
+ 0.0,
129
+ 0.46
130
+ ],
131
+ "name": "geom_0"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter_2",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_main_group",
139
+ "sample_region_kwargs": {
140
+ "ref": "oven_main_group",
141
+ "min_size": [
142
+ 0.02016444,
143
+ 0.02017332,
144
+ 0.02012772
145
+ ]
146
+ },
147
+ "size": [
148
+ 1.0,
149
+ 0.5
150
+ ],
151
+ "pos": [
152
+ null,
153
+ -1.0
154
+ ],
155
+ "offset": [
156
+ 0.0,
157
+ 0.1
158
+ ]
159
+ },
160
+ "type": "object",
161
+ "info": {
162
+ "groups_containing_sampled_obj": [
163
+ "all",
164
+ "sugar_cube",
165
+ "sweets",
166
+ "food",
167
+ "in_container"
168
+ ],
169
+ "groups": [
170
+ "all"
171
+ ],
172
+ "cat": "sugar_cube",
173
+ "split": "train",
174
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml"
175
+ },
176
+ "reset_region": {
177
+ "size": [
178
+ 2.8,
179
+ 0.65
180
+ ],
181
+ "offset": [
182
+ 0.0,
183
+ 0.0,
184
+ 0.46
185
+ ],
186
+ "name": "geom_0"
187
+ }
188
+ },
189
+ {
190
+ "name": "distr_counter_3",
191
+ "obj_groups": "all",
192
+ "placement": {
193
+ "fixture": "counter_1_main_group",
194
+ "sample_region_kwargs": {
195
+ "ref": "oven_main_group",
196
+ "min_size": [
197
+ 0.09726746624999996,
198
+ 0.13574656619999995,
199
+ 0.030184386749999986
200
+ ]
201
+ },
202
+ "size": [
203
+ 1.0,
204
+ 0.5
205
+ ],
206
+ "pos": [
207
+ null,
208
+ -1.0
209
+ ],
210
+ "offset": [
211
+ 0.0,
212
+ 0.1
213
+ ]
214
+ },
215
+ "type": "object",
216
+ "info": {
217
+ "groups_containing_sampled_obj": [
218
+ "all",
219
+ "bagged_food",
220
+ "packaged_food"
221
+ ],
222
+ "groups": [
223
+ "all"
224
+ ],
225
+ "cat": "bagged_food",
226
+ "split": "train",
227
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_11/model.xml"
228
+ },
229
+ "reset_region": {
230
+ "size": [
231
+ 2.8,
232
+ 0.65
233
+ ],
234
+ "offset": [
235
+ 0.0,
236
+ 0.0,
237
+ 0.46
238
+ ],
239
+ "name": "geom_0"
240
+ }
241
+ }
242
+ ],
243
+ "fixtures": {
244
+ "wall_main_1_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_main_1_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_left_4_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_left_4_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_right_1_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "wall_right_1_backing_room": {
260
+ "cls": "Wall"
261
+ },
262
+ "wall_left_1_room": {
263
+ "cls": "Wall"
264
+ },
265
+ "wall_left_1_backing_room": {
266
+ "cls": "Wall"
267
+ },
268
+ "wall_left_3_room": {
269
+ "cls": "Wall"
270
+ },
271
+ "wall_left_3_backing_room": {
272
+ "cls": "Wall"
273
+ },
274
+ "wall_left_2_room": {
275
+ "cls": "Wall"
276
+ },
277
+ "wall_left_2_backing_room": {
278
+ "cls": "Wall"
279
+ },
280
+ "wall_main_2_room": {
281
+ "cls": "Wall"
282
+ },
283
+ "wall_main_2_backing_room": {
284
+ "cls": "Wall"
285
+ },
286
+ "wall_front_1_room": {
287
+ "cls": "Wall"
288
+ },
289
+ "wall_front_1_backing_room": {
290
+ "cls": "Wall"
291
+ },
292
+ "floor_1_room": {
293
+ "cls": "Floor"
294
+ },
295
+ "floor_1_backing_room": {
296
+ "cls": "Floor"
297
+ },
298
+ "floor_2_room": {
299
+ "cls": "Floor"
300
+ },
301
+ "floor_2_backing_room": {
302
+ "cls": "Floor"
303
+ },
304
+ "light_switch_1_room": {
305
+ "cls": "WallAccessory"
306
+ },
307
+ "wall_accessory_1_room": {
308
+ "cls": "WallAccessory"
309
+ },
310
+ "light_switch_2_room": {
311
+ "cls": "WallAccessory"
312
+ },
313
+ "wall_accessory_2_room": {
314
+ "cls": "WallAccessory"
315
+ },
316
+ "stool_1_room": {
317
+ "cls": "Stool"
318
+ },
319
+ "stool_2_room": {
320
+ "cls": "Stool"
321
+ },
322
+ "stool_3_room": {
323
+ "cls": "Stool"
324
+ },
325
+ "stool_4_room": {
326
+ "cls": "Stool"
327
+ },
328
+ "bottom_main_group_base": {
329
+ "cls": "Box"
330
+ },
331
+ "bottom_main_group_1": {
332
+ "cls": "Drawer"
333
+ },
334
+ "oven_main_group": {
335
+ "cls": "Oven"
336
+ },
337
+ "oven_housing_main_group": {
338
+ "cls": "HousingCabinet"
339
+ },
340
+ "microwave_main_group": {
341
+ "cls": "Microwave"
342
+ },
343
+ "microwave_housing_main_group": {
344
+ "cls": "HousingCabinet"
345
+ },
346
+ "middle_main_group": {
347
+ "cls": "HingeCabinet"
348
+ },
349
+ "top_main_group": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "fridge_main_group": {
353
+ "cls": "FridgeSideBySide"
354
+ },
355
+ "fridge_housing_main_group": {
356
+ "cls": "HousingCabinet"
357
+ },
358
+ "counter_1_main_group": {
359
+ "cls": "Counter"
360
+ },
361
+ "stack_1_main_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_main_group_1": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_1_main_group_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_1_main_group_3": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_2_main_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_2_main_group_1": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_2_main_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_2_main_group_3": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_3_main_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_3_main_group_1": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_3_main_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_3_main_group_3": {
395
+ "cls": "Drawer"
396
+ },
397
+ "dishwasher_main_group": {
398
+ "cls": "Dishwasher"
399
+ },
400
+ "panel_stack_main_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "panel_stack_main_group_1": {
404
+ "cls": "PanelCabinet"
405
+ },
406
+ "cab_1_main_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_2_main_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "cab_3_main_group": {
413
+ "cls": "HingeCabinet"
414
+ },
415
+ "cab_4_main_group": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "cab_5_main_group": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "cab_6_main_group": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "toaster_oven_main_group": {
425
+ "cls": "ToasterOven"
426
+ },
427
+ "paper_towel_main_group": {
428
+ "cls": "Accessory"
429
+ },
430
+ "stovetop_left_group": {
431
+ "cls": "Stovetop"
432
+ },
433
+ "counter_1_left_group": {
434
+ "cls": "Counter"
435
+ },
436
+ "stack_1_left_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_1_left_group_1": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_1_left_group_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_1_left_group_3": {
446
+ "cls": "Drawer"
447
+ },
448
+ "stack_2_left_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_2_left_group_1": {
452
+ "cls": "Drawer"
453
+ },
454
+ "stack_2_left_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_2_left_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_3_left_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_3_left_group_1": {
464
+ "cls": "Drawer"
465
+ },
466
+ "stack_3_left_group_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_3_left_group_3": {
470
+ "cls": "PanelCabinet"
471
+ },
472
+ "stack_4_left_group_base": {
473
+ "cls": "Box"
474
+ },
475
+ "stack_4_left_group_1": {
476
+ "cls": "Drawer"
477
+ },
478
+ "stack_4_left_group_2": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_4_left_group_3": {
482
+ "cls": "Drawer"
483
+ },
484
+ "stack_5_left_group_base": {
485
+ "cls": "Box"
486
+ },
487
+ "stack_5_left_group_1": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_5_left_group_2": {
491
+ "cls": "Drawer"
492
+ },
493
+ "stack_5_left_group_3": {
494
+ "cls": "Drawer"
495
+ },
496
+ "hood_left_group": {
497
+ "cls": "Hood"
498
+ },
499
+ "cab_1_left_group": {
500
+ "cls": "HingeCabinet"
501
+ },
502
+ "cab_2_left_group": {
503
+ "cls": "HingeCabinet"
504
+ },
505
+ "cab_3_left_group": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "cab_4_left_group": {
509
+ "cls": "HingeCabinet"
510
+ },
511
+ "coffee_machine_left_group": {
512
+ "cls": "CoffeeMachine"
513
+ },
514
+ "toaster_left_group": {
515
+ "cls": "Toaster"
516
+ },
517
+ "sink_island_group": {
518
+ "cls": "Sink"
519
+ },
520
+ "island_island_group": {
521
+ "cls": "Counter"
522
+ },
523
+ "panel_box_1_island_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "panel_box_1_island_group_1": {
527
+ "cls": "PanelCabinet"
528
+ },
529
+ "stack_1_island_group_base": {
530
+ "cls": "Box"
531
+ },
532
+ "stack_1_island_group_1": {
533
+ "cls": "Drawer"
534
+ },
535
+ "stack_1_island_group_2": {
536
+ "cls": "Drawer"
537
+ },
538
+ "stack_1_island_group_3": {
539
+ "cls": "Drawer"
540
+ },
541
+ "stack_2_island_group_base": {
542
+ "cls": "Box"
543
+ },
544
+ "stack_2_island_group_1": {
545
+ "cls": "SingleCabinet"
546
+ },
547
+ "stack_3_island_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "stack_3_island_group_1": {
551
+ "cls": "HingeCabinet"
552
+ },
553
+ "stack_4_island_group_base": {
554
+ "cls": "Box"
555
+ },
556
+ "stack_4_island_group_1": {
557
+ "cls": "SingleCabinet"
558
+ },
559
+ "stack_5_island_group_base": {
560
+ "cls": "Box"
561
+ },
562
+ "stack_5_island_group_1": {
563
+ "cls": "Drawer"
564
+ },
565
+ "stack_5_island_group_2": {
566
+ "cls": "Drawer"
567
+ },
568
+ "stack_5_island_group_3": {
569
+ "cls": "Drawer"
570
+ },
571
+ "panel_cab_2_island_group_base": {
572
+ "cls": "Box"
573
+ },
574
+ "panel_cab_2_island_group_1": {
575
+ "cls": "PanelCabinet"
576
+ },
577
+ "box_island_group": {
578
+ "cls": "Box"
579
+ }
580
+ },
581
+ "gen_textures": {},
582
+ "lang": "Close the oven door.",
583
+ "fixture_refs": {
584
+ "fxtr": "oven_main_group"
585
+ },
586
+ "cam_configs": {
587
+ "robot0_agentview_center": {
588
+ "pos": [
589
+ -0.6,
590
+ 0.0,
591
+ 1.15
592
+ ],
593
+ "quat": [
594
+ 0.636945903301239,
595
+ 0.3325185477733612,
596
+ -0.3199238181114197,
597
+ -0.6175596117973328
598
+ ],
599
+ "parent_body": "mobilebase0_support"
600
+ },
601
+ "robot0_agentview_left": {
602
+ "pos": [
603
+ -0.5,
604
+ 0.35,
605
+ 1.05
606
+ ],
607
+ "quat": [
608
+ 0.55623853,
609
+ 0.29935253,
610
+ -0.37678665,
611
+ -0.6775092
612
+ ],
613
+ "camera_attribs": {
614
+ "fovy": "60"
615
+ },
616
+ "parent_body": "mobilebase0_support"
617
+ },
618
+ "robot0_agentview_right": {
619
+ "pos": [
620
+ -0.5,
621
+ -0.35,
622
+ 1.05
623
+ ],
624
+ "quat": [
625
+ 0.6775091886520386,
626
+ 0.3767866790294647,
627
+ -0.2993525564670563,
628
+ -0.55623859167099
629
+ ],
630
+ "camera_attribs": {
631
+ "fovy": "60"
632
+ },
633
+ "parent_body": "mobilebase0_support"
634
+ },
635
+ "robot0_frontview": {
636
+ "pos": [
637
+ -0.5,
638
+ 0,
639
+ 0.95
640
+ ],
641
+ "quat": [
642
+ 0.6088936924934387,
643
+ 0.3814677894115448,
644
+ -0.3673907518386841,
645
+ -0.5905545353889465
646
+ ],
647
+ "camera_attribs": {
648
+ "fovy": "60"
649
+ },
650
+ "parent_body": "mobilebase0_support"
651
+ },
652
+ "robot0_eye_in_hand": {
653
+ "pos": [
654
+ 0.05,
655
+ 0,
656
+ 0
657
+ ],
658
+ "quat": [
659
+ 0,
660
+ 0.707107,
661
+ 0.707107,
662
+ 0
663
+ ],
664
+ "parent_body": "robot0_right_hand"
665
+ }
666
+ },
667
+ "init_robot_base_pos": [
668
+ 0.9010187489108252,
669
+ -1.34718324106875,
670
+ 0.0
671
+ ],
672
+ "init_robot_base_ori": [
673
+ 0.0,
674
+ 0.0,
675
+ 1.5707963267948966
676
+ ]
677
+ }
pretrain/atomic/CloseOven/20250820/lerobot/extras/episode_000100/ep_meta.json ADDED
@@ -0,0 +1,540 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 42,
3
+ "style_id": 41,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj_container",
7
+ "obj_groups": "oven_tray",
8
+ "placement": {
9
+ "fixture": "oven_right_group_1",
10
+ "size": [
11
+ 1.0,
12
+ 0.45
13
+ ],
14
+ "pos": [
15
+ null,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "oven_tray"
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "oven_tray",
25
+ "receptacle"
26
+ ],
27
+ "groups": [
28
+ "oven_tray"
29
+ ],
30
+ "cat": "oven_tray",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ -0.003552272449672822,
37
+ 0.0200473733935803,
38
+ -0.02137208055047561
39
+ ],
40
+ "size": [
41
+ 0.5562461472479844,
42
+ 0.4275802516063978
43
+ ],
44
+ "height": 0.17941404040769782,
45
+ "name": "rack0"
46
+ }
47
+ },
48
+ {
49
+ "name": "door_obj",
50
+ "obj_groups": "all",
51
+ "graspable": true,
52
+ "placement": {
53
+ "size": [
54
+ 0.01,
55
+ 0.01
56
+ ],
57
+ "ensure_object_boundary_in_range": false,
58
+ "sample_args": {
59
+ "reference": "door_obj_container",
60
+ "on_top": true
61
+ }
62
+ },
63
+ "type": "object",
64
+ "info": {
65
+ "groups_containing_sampled_obj": [
66
+ "all",
67
+ "cream_cheese_stick",
68
+ "dairy",
69
+ "food",
70
+ "in_container"
71
+ ],
72
+ "groups": [
73
+ "all"
74
+ ],
75
+ "cat": "cream_cheese_stick",
76
+ "split": "train",
77
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick001/model.xml"
78
+ }
79
+ },
80
+ {
81
+ "name": "distr_counter_1",
82
+ "obj_groups": "all",
83
+ "placement": {
84
+ "fixture": "counter_1_right_group_1",
85
+ "sample_region_kwargs": {
86
+ "ref": "oven_right_group_1",
87
+ "min_size": [
88
+ 0.0594332376,
89
+ 0.059428920100000004,
90
+ 0.11086028690000001
91
+ ]
92
+ },
93
+ "size": [
94
+ 1.0,
95
+ 0.5
96
+ ],
97
+ "pos": [
98
+ null,
99
+ -1.0
100
+ ],
101
+ "offset": [
102
+ 0.0,
103
+ 0.1
104
+ ]
105
+ },
106
+ "type": "object",
107
+ "info": {
108
+ "groups_containing_sampled_obj": [
109
+ "all",
110
+ "can",
111
+ "drink",
112
+ "group1"
113
+ ],
114
+ "groups": [
115
+ "all"
116
+ ],
117
+ "cat": "can",
118
+ "split": "train",
119
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_12/model.xml"
120
+ },
121
+ "reset_region": {
122
+ "size": [
123
+ 0.890287837300038,
124
+ 0.65
125
+ ],
126
+ "offset": [
127
+ 0.837356081349981,
128
+ -3.469446951953614e-17,
129
+ 0.46
130
+ ],
131
+ "name": "geom_0"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter_2",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_right_group_1",
139
+ "sample_region_kwargs": {
140
+ "ref": "oven_right_group_1",
141
+ "min_size": [
142
+ 0.10350055380000002,
143
+ 0.10500000000000001,
144
+ 0.0362892054
145
+ ]
146
+ },
147
+ "size": [
148
+ 1.0,
149
+ 0.5
150
+ ],
151
+ "pos": [
152
+ null,
153
+ -1.0
154
+ ],
155
+ "offset": [
156
+ 0.0,
157
+ 0.1
158
+ ]
159
+ },
160
+ "type": "object",
161
+ "info": {
162
+ "groups_containing_sampled_obj": [
163
+ "all",
164
+ "bagel",
165
+ "bread_food",
166
+ "food",
167
+ "in_container"
168
+ ],
169
+ "groups": [
170
+ "all"
171
+ ],
172
+ "cat": "bagel",
173
+ "split": "train",
174
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_4/model.xml"
175
+ },
176
+ "reset_region": {
177
+ "size": [
178
+ 0.890287837300038,
179
+ 0.65
180
+ ],
181
+ "offset": [
182
+ 0.837356081349981,
183
+ -3.469446951953614e-17,
184
+ 0.46
185
+ ],
186
+ "name": "geom_0"
187
+ }
188
+ }
189
+ ],
190
+ "fixtures": {
191
+ "wall_left_1_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_left_1_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_main_1_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_main_1_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_right_1_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_right_1_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_main_2_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_main_2_backing_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_main_3_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_main_3_backing_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_main_4_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_main_4_backing_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_left_2_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_left_2_backing_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "floor_1_room": {
234
+ "cls": "Floor"
235
+ },
236
+ "floor_1_backing_room": {
237
+ "cls": "Floor"
238
+ },
239
+ "floor_2_room": {
240
+ "cls": "Floor"
241
+ },
242
+ "floor_2_backing_room": {
243
+ "cls": "Floor"
244
+ },
245
+ "wallaccessory_room": {
246
+ "cls": "WallAccessory"
247
+ },
248
+ "lightswitch_room": {
249
+ "cls": "WallAccessory"
250
+ },
251
+ "wallaccessory.002_room": {
252
+ "cls": "WallAccessory"
253
+ },
254
+ "window_group_room": {
255
+ "cls": "Window"
256
+ },
257
+ "stool_1_room": {
258
+ "cls": "Stool"
259
+ },
260
+ "stool_2_room": {
261
+ "cls": "Stool"
262
+ },
263
+ "stool_4_room": {
264
+ "cls": "Stool"
265
+ },
266
+ "stool_3_room": {
267
+ "cls": "Stool"
268
+ },
269
+ "counter_1_main_group_1": {
270
+ "cls": "Counter"
271
+ },
272
+ "counter_corner_1_main_group_1": {
273
+ "cls": "Counter"
274
+ },
275
+ "stack_1_main_group_1_base": {
276
+ "cls": "Box"
277
+ },
278
+ "stack_1_main_group_1_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "cube_1_main_group_1": {
282
+ "cls": "Box"
283
+ },
284
+ "fridgefrenchdoor_main_group_1": {
285
+ "cls": "FridgeFrenchDoor"
286
+ },
287
+ "fridgefrenchdoor_housing_main_group_1": {
288
+ "cls": "HousingCabinet"
289
+ },
290
+ "hingecabinet_1_main_group_1": {
291
+ "cls": "HingeCabinet"
292
+ },
293
+ "coffeemachine_main_group_1": {
294
+ "cls": "CoffeeMachine"
295
+ },
296
+ "papertowel_main_group_1": {
297
+ "cls": "Accessory"
298
+ },
299
+ "stovetop_right_group_1": {
300
+ "cls": "Stovetop"
301
+ },
302
+ "counter_1_right_group_1": {
303
+ "cls": "Counter"
304
+ },
305
+ "hingecabinet_3_right_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "hingecabinet_4_right_group_1": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "hingecabinet_1_right_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "hingecabinet_2_right_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_1_right_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_1_right_group_1_1": {
321
+ "cls": "SingleCabinet"
322
+ },
323
+ "stack_2_right_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_2_right_group_1_1": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_2_right_group_1_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_2_right_group_1_3": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_3_right_group_1_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_3_right_group_1_1": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_right_group_1_2": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_3_right_group_1_3": {
345
+ "cls": "PanelCabinet"
346
+ },
347
+ "stack_4_right_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_4_right_group_1_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "stack_4_right_group_1_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "cube_1_right_group_1": {
357
+ "cls": "Box"
358
+ },
359
+ "bottom_right_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "bottom_right_group_1_1": {
363
+ "cls": "Drawer"
364
+ },
365
+ "oven_right_group_1": {
366
+ "cls": "Oven"
367
+ },
368
+ "oven_housing_right_group_1": {
369
+ "cls": "HousingCabinet"
370
+ },
371
+ "microwave_right_group_1": {
372
+ "cls": "Microwave"
373
+ },
374
+ "microwave_housing_right_group_1": {
375
+ "cls": "HousingCabinet"
376
+ },
377
+ "top_right_group_1": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "toaster_right_group_1": {
381
+ "cls": "Toaster"
382
+ },
383
+ "counter_1_left_group_1": {
384
+ "cls": "Counter"
385
+ },
386
+ "stack_1_left_group_1_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_1_left_group_1_1": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "stack_2_left_group_1_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_2_left_group_1_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "knifeblock_left_group_1": {
399
+ "cls": "Accessory"
400
+ },
401
+ "toaster_oven_left_group_1": {
402
+ "cls": "ToasterOven"
403
+ },
404
+ "plant_left_group_1": {
405
+ "cls": "Accessory"
406
+ },
407
+ "cube_1_island_group_1": {
408
+ "cls": "Box"
409
+ },
410
+ "cube_2_island_group_1": {
411
+ "cls": "Box"
412
+ },
413
+ "cube_3_island_group_1": {
414
+ "cls": "Box"
415
+ },
416
+ "sink_island_group_1": {
417
+ "cls": "Sink"
418
+ },
419
+ "island_island_group_1": {
420
+ "cls": "Counter"
421
+ },
422
+ "stack_1_island_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_1_island_group_1_1": {
426
+ "cls": "SingleCabinet"
427
+ },
428
+ "stack_3_island_group_1_base": {
429
+ "cls": "Box"
430
+ },
431
+ "stack_3_island_group_1_1": {
432
+ "cls": "SingleCabinet"
433
+ },
434
+ "stack_2_island_group_1_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_2_island_group_1_1": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "dishwasher_1_island_group_1": {
441
+ "cls": "Dishwasher"
442
+ }
443
+ },
444
+ "gen_textures": {},
445
+ "lang": "Close the oven door.",
446
+ "fixture_refs": {
447
+ "fxtr": "oven_right_group_1"
448
+ },
449
+ "cam_configs": {
450
+ "robot0_agentview_center": {
451
+ "pos": [
452
+ -0.6,
453
+ 0.0,
454
+ 1.15
455
+ ],
456
+ "quat": [
457
+ 0.636945903301239,
458
+ 0.3325185477733612,
459
+ -0.3199238181114197,
460
+ -0.6175596117973328
461
+ ],
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_agentview_left": {
465
+ "pos": [
466
+ -0.5,
467
+ 0.35,
468
+ 1.05
469
+ ],
470
+ "quat": [
471
+ 0.55623853,
472
+ 0.29935253,
473
+ -0.37678665,
474
+ -0.6775092
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_agentview_right": {
482
+ "pos": [
483
+ -0.5,
484
+ -0.35,
485
+ 1.05
486
+ ],
487
+ "quat": [
488
+ 0.6775091886520386,
489
+ 0.3767866790294647,
490
+ -0.2993525564670563,
491
+ -0.55623859167099
492
+ ],
493
+ "camera_attribs": {
494
+ "fovy": "60"
495
+ },
496
+ "parent_body": "mobilebase0_support"
497
+ },
498
+ "robot0_frontview": {
499
+ "pos": [
500
+ -0.5,
501
+ 0,
502
+ 0.95
503
+ ],
504
+ "quat": [
505
+ 0.6088936924934387,
506
+ 0.3814677894115448,
507
+ -0.3673907518386841,
508
+ -0.5905545353889465
509
+ ],
510
+ "camera_attribs": {
511
+ "fovy": "60"
512
+ },
513
+ "parent_body": "mobilebase0_support"
514
+ },
515
+ "robot0_eye_in_hand": {
516
+ "pos": [
517
+ 0.05,
518
+ 0,
519
+ 0
520
+ ],
521
+ "quat": [
522
+ 0,
523
+ 0.707107,
524
+ 0.707107,
525
+ 0
526
+ ],
527
+ "parent_body": "robot0_right_hand"
528
+ }
529
+ },
530
+ "init_robot_base_pos": [
531
+ 4.0165441505202795,
532
+ -3.1088685696769276,
533
+ 0.0
534
+ ],
535
+ "init_robot_base_ori": [
536
+ 0.0,
537
+ 0.0,
538
+ 0.00030199704781619374
539
+ ]
540
+ }
pretrain/atomic/CloseOven/20250820/lerobot/meta/info.json ADDED
@@ -0,0 +1,179 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "PandaOmron",
4
+ "total_episodes": 107,
5
+ "total_frames": 18230,
6
+ "total_tasks": 1,
7
+ "total_videos": 321,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:107"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "observation.images.robot0_eye_in_hand": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 256,
21
+ 256,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "video_info": {
30
+ "video.fps": 20,
31
+ "video.codec": "h264",
32
+ "video.pix_fmt": "yuv420p",
33
+ "video.is_depth_map": false,
34
+ "has_audio": false
35
+ },
36
+ "info": {
37
+ "video.height": 256,
38
+ "video.width": 256,
39
+ "video.codec": "h264",
40
+ "video.pix_fmt": "yuv420p",
41
+ "video.is_depth_map": false,
42
+ "video.fps": 20,
43
+ "video.channels": 3,
44
+ "has_audio": false
45
+ }
46
+ },
47
+ "observation.images.robot0_agentview_left": {
48
+ "dtype": "video",
49
+ "shape": [
50
+ 256,
51
+ 256,
52
+ 3
53
+ ],
54
+ "names": [
55
+ "height",
56
+ "width",
57
+ "channel"
58
+ ],
59
+ "video_info": {
60
+ "video.fps": 20,
61
+ "video.codec": "h264",
62
+ "video.pix_fmt": "yuv420p",
63
+ "video.is_depth_map": false,
64
+ "has_audio": false
65
+ },
66
+ "info": {
67
+ "video.height": 256,
68
+ "video.width": 256,
69
+ "video.codec": "h264",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "video.fps": 20,
73
+ "video.channels": 3,
74
+ "has_audio": false
75
+ }
76
+ },
77
+ "observation.images.robot0_agentview_right": {
78
+ "dtype": "video",
79
+ "shape": [
80
+ 256,
81
+ 256,
82
+ 3
83
+ ],
84
+ "names": [
85
+ "height",
86
+ "width",
87
+ "channel"
88
+ ],
89
+ "video_info": {
90
+ "video.fps": 20,
91
+ "video.codec": "h264",
92
+ "video.pix_fmt": "yuv420p",
93
+ "video.is_depth_map": false,
94
+ "has_audio": false
95
+ },
96
+ "info": {
97
+ "video.height": 256,
98
+ "video.width": 256,
99
+ "video.codec": "h264",
100
+ "video.pix_fmt": "yuv420p",
101
+ "video.is_depth_map": false,
102
+ "video.fps": 20,
103
+ "video.channels": 3,
104
+ "has_audio": false
105
+ }
106
+ },
107
+ "annotation.human.task_description": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ]
112
+ },
113
+ "annotation.human.task_name": {
114
+ "dtype": "int64",
115
+ "shape": [
116
+ 1
117
+ ]
118
+ },
119
+ "observation.state": {
120
+ "dtype": "float64",
121
+ "shape": [
122
+ 16
123
+ ]
124
+ },
125
+ "action": {
126
+ "dtype": "float64",
127
+ "shape": [
128
+ 12
129
+ ]
130
+ },
131
+ "next.reward": {
132
+ "dtype": "float32",
133
+ "shape": [
134
+ 1
135
+ ]
136
+ },
137
+ "next.done": {
138
+ "dtype": "bool",
139
+ "shape": [
140
+ 1
141
+ ]
142
+ },
143
+ "timestamp": {
144
+ "dtype": "float32",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "names": null
149
+ },
150
+ "frame_index": {
151
+ "dtype": "int64",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": null
156
+ },
157
+ "episode_index": {
158
+ "dtype": "int64",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "names": null
163
+ },
164
+ "index": {
165
+ "dtype": "int64",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ },
171
+ "task_index": {
172
+ "dtype": "int64",
173
+ "shape": [
174
+ 1
175
+ ],
176
+ "names": null
177
+ }
178
+ }
179
+ }
pretrain/atomic/CloseOven/20250820/lerobot/meta/stats.json ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "annotation.human.task_description": {
3
+ "mean": [
4
+ 0.0
5
+ ],
6
+ "std": [
7
+ 0.0
8
+ ],
9
+ "min": [
10
+ 0.0
11
+ ],
12
+ "max": [
13
+ 0.0
14
+ ],
15
+ "q01": [
16
+ 0.0
17
+ ],
18
+ "q99": [
19
+ 0.0
20
+ ]
21
+ },
22
+ "annotation.human.task_name": {
23
+ "mean": [
24
+ 1.0
25
+ ],
26
+ "std": [
27
+ 0.0
28
+ ],
29
+ "min": [
30
+ 1.0
31
+ ],
32
+ "max": [
33
+ 1.0
34
+ ],
35
+ "q01": [
36
+ 1.0
37
+ ],
38
+ "q99": [
39
+ 1.0
40
+ ]
41
+ },
42
+ "observation.state": {
43
+ "mean": [
44
+ 1.9784401655197144,
45
+ -2.2919747829437256,
46
+ 0.7002436518669128,
47
+ 0.0,
48
+ 0.0,
49
+ 0.36346468329429626,
50
+ 0.5315945744514465,
51
+ 0.15577514469623566,
52
+ 0.16675838828086853,
53
+ 0.14157037436962128,
54
+ -0.09853991866111755,
55
+ 0.20524241030216217,
56
+ 0.003350713523104787,
57
+ 0.18488085269927979,
58
+ 0.03826572373509407,
59
+ -0.03751865029335022
60
+ ],
61
+ "std": [
62
+ 1.2443100214004517,
63
+ 1.3668032884597778,
64
+ 0.0004598557425197214,
65
+ 0.0,
66
+ 0.0,
67
+ 0.6490414142608643,
68
+ 0.40499600768089294,
69
+ 0.1824590265750885,
70
+ 0.4655979573726654,
71
+ 0.24930721521377563,
72
+ 0.7895886301994324,
73
+ 0.3500121235847473,
74
+ 0.34576067328453064,
75
+ 0.22014029324054718,
76
+ 0.005818575620651245,
77
+ 0.006450365297496319
78
+ ],
79
+ "min": [
80
+ 0.9009007215499878,
81
+ -5.1759352684021,
82
+ 0.6998242139816284,
83
+ 0.0,
84
+ 0.0,
85
+ -1.0,
86
+ 0.0,
87
+ -0.22160698473453522,
88
+ -0.7657781839370728,
89
+ -0.26192742586135864,
90
+ -0.99969083070755,
91
+ -0.9986878633499146,
92
+ -0.8060324788093567,
93
+ 9.77552758740785e-07,
94
+ -0.003338000737130642,
95
+ -0.04419366642832756
96
+ ],
97
+ "max": [
98
+ 4.045180320739746,
99
+ -0.806759238243103,
100
+ 0.7061055898666382,
101
+ 0.0,
102
+ 0.0,
103
+ 1.0,
104
+ 1.0,
105
+ 0.5816689729690552,
106
+ 0.8003577589988708,
107
+ 0.6289914846420288,
108
+ 0.9998298287391663,
109
+ 0.9988420009613037,
110
+ 0.7838709950447083,
111
+ 0.8491475582122803,
112
+ 0.047497157007455826,
113
+ 0.0037777337711304426
114
+ ],
115
+ "q01": [
116
+ 0.9046685099601746,
117
+ -5.150864124298096,
118
+ 0.699910044670105,
119
+ 0.0,
120
+ 0.0,
121
+ -1.0,
122
+ 1.7308944961769157e-06,
123
+ -0.15113703906536102,
124
+ -0.6915938854217529,
125
+ -0.21628974378108978,
126
+ -0.994135320186615,
127
+ -0.21992303431034088,
128
+ -0.6496863961219788,
129
+ 0.0011059455573558807,
130
+ 0.0009536877041682601,
131
+ -0.04079955443739891
132
+ ],
133
+ "q99": [
134
+ 4.044763088226318,
135
+ -0.8103975653648376,
136
+ 0.7022122144699097,
137
+ 0.0,
138
+ 0.0,
139
+ 1.0,
140
+ 1.0,
141
+ 0.5554225444793701,
142
+ 0.7032398581504822,
143
+ 0.6124106049537659,
144
+ 0.9924988746643066,
145
+ 0.9601224064826965,
146
+ 0.6916824579238892,
147
+ 0.7905969619750977,
148
+ 0.04103146493434906,
149
+ -0.0004671031783800572
150
+ ]
151
+ },
152
+ "action": {
153
+ "mean": [
154
+ 0.0,
155
+ 0.0,
156
+ 0.0,
157
+ 0.0,
158
+ -1.0,
159
+ 0.23014602065086365,
160
+ 0.12924638390541077,
161
+ -0.2672220468521118,
162
+ 0.03913135454058647,
163
+ -0.08215489983558655,
164
+ -0.05704742297530174,
165
+ -1.0
166
+ ],
167
+ "std": [
168
+ 0.0,
169
+ 0.0,
170
+ 0.0,
171
+ 0.0,
172
+ 0.0,
173
+ 0.6246383786201477,
174
+ 0.5199207067489624,
175
+ 0.6298425793647766,
176
+ 0.17502176761627197,
177
+ 0.18385645747184753,
178
+ 0.14977261424064636,
179
+ 0.0
180
+ ],
181
+ "min": [
182
+ 0.0,
183
+ 0.0,
184
+ 0.0,
185
+ 0.0,
186
+ -1.0,
187
+ -1.0,
188
+ -1.0,
189
+ -1.0,
190
+ -0.7485714554786682,
191
+ -1.0,
192
+ -0.8999999761581421,
193
+ -1.0
194
+ ],
195
+ "max": [
196
+ 0.0,
197
+ 0.0,
198
+ 0.0,
199
+ 0.0,
200
+ -1.0,
201
+ 1.0,
202
+ 1.0,
203
+ 1.0,
204
+ 1.0,
205
+ 0.7342857122421265,
206
+ 0.6828571557998657,
207
+ -1.0
208
+ ],
209
+ "q01": [
210
+ 0.0,
211
+ 0.0,
212
+ 0.0,
213
+ 0.0,
214
+ -1.0,
215
+ -1.0,
216
+ -1.0,
217
+ -1.0,
218
+ -0.36000001430511475,
219
+ -0.6200000047683716,
220
+ -0.6448857188224792,
221
+ -1.0
222
+ ],
223
+ "q99": [
224
+ 0.0,
225
+ 0.0,
226
+ 0.0,
227
+ 0.0,
228
+ -1.0,
229
+ 1.0,
230
+ 1.0,
231
+ 1.0,
232
+ 0.6971428394317627,
233
+ 0.3257142901420593,
234
+ 0.26571428775787354,
235
+ -1.0
236
+ ]
237
+ },
238
+ "next.reward": {
239
+ "mean": [
240
+ 0.09391113370656967
241
+ ],
242
+ "std": [
243
+ 0.29170507192611694
244
+ ],
245
+ "min": [
246
+ 0.0
247
+ ],
248
+ "max": [
249
+ 1.0
250
+ ],
251
+ "q01": [
252
+ 0.0
253
+ ],
254
+ "q99": [
255
+ 1.0
256
+ ]
257
+ },
258
+ "next.done": {
259
+ "mean": [
260
+ 0.0058694458566606045
261
+ ],
262
+ "std": [
263
+ 0.07638714462518692
264
+ ],
265
+ "min": [
266
+ 0.0
267
+ ],
268
+ "max": [
269
+ 1.0
270
+ ],
271
+ "q01": [
272
+ 0.0
273
+ ],
274
+ "q99": [
275
+ 0.0
276
+ ]
277
+ },
278
+ "timestamp": {
279
+ "mean": [
280
+ 4.310616970062256
281
+ ],
282
+ "std": [
283
+ 2.5950801372528076
284
+ ],
285
+ "min": [
286
+ 0.0
287
+ ],
288
+ "max": [
289
+ 12.5
290
+ ],
291
+ "q01": [
292
+ 0.05000000074505806
293
+ ],
294
+ "q99": [
295
+ 9.885546684265137
296
+ ]
297
+ },
298
+ "frame_index": {
299
+ "mean": [
300
+ 86.21234130859375
301
+ ],
302
+ "std": [
303
+ 51.90160369873047
304
+ ],
305
+ "min": [
306
+ 0.0
307
+ ],
308
+ "max": [
309
+ 250.0
310
+ ],
311
+ "q01": [
312
+ 1.0
313
+ ],
314
+ "q99": [
315
+ 197.7109375
316
+ ]
317
+ },
318
+ "episode_index": {
319
+ "mean": [
320
+ 53.12698745727539
321
+ ],
322
+ "std": [
323
+ 30.678363800048828
324
+ ],
325
+ "min": [
326
+ 0.0
327
+ ],
328
+ "max": [
329
+ 106.0
330
+ ],
331
+ "q01": [
332
+ 1.0
333
+ ],
334
+ "q99": [
335
+ 105.0
336
+ ]
337
+ },
338
+ "index": {
339
+ "mean": [
340
+ 9114.5009765625
341
+ ],
342
+ "std": [
343
+ 5262.5478515625
344
+ ],
345
+ "min": [
346
+ 0.0
347
+ ],
348
+ "max": [
349
+ 18229.0
350
+ ],
351
+ "q01": [
352
+ 182.2899932861328
353
+ ],
354
+ "q99": [
355
+ 18046.7109375
356
+ ]
357
+ },
358
+ "task_index": {
359
+ "mean": [
360
+ 0.0
361
+ ],
362
+ "std": [
363
+ 0.0
364
+ ],
365
+ "min": [
366
+ 0.0
367
+ ],
368
+ "max": [
369
+ 0.0
370
+ ],
371
+ "q01": [
372
+ 0.0
373
+ ],
374
+ "q99": [
375
+ 0.0
376
+ ]
377
+ }
378
+ }
pretrain/atomic/CloseOven/20250820/lerobot/meta/tasks.jsonl ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ {"task_index": 0, "task": "Close the oven door."}
2
+ {"task_index": 1, "task": "CloseOven"}